CN104942791A - Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator - Google Patents
Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator Download PDFInfo
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- CN104942791A CN104942791A CN201510332488.2A CN201510332488A CN104942791A CN 104942791 A CN104942791 A CN 104942791A CN 201510332488 A CN201510332488 A CN 201510332488A CN 104942791 A CN104942791 A CN 104942791A
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Abstract
The invention relates to a rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator. The manipulator has the basic bionic function and has the advantages of being dexterous, safe, small in size, large in force weight ratio, easy to manufacture, capable of saving energy, environmentally friendly and mild. According to the technical scheme, the rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator is characterized by comprising a manipulator mechanism, an artificial muscle system for providing power for the manipulator mechanism, a rope pulling system for transmitting power to the manipulator mechanism, and a gas loop control system for controlling the artificial muscle system to act.
Description
Technical field
The present invention relates to bionic mechanical hand technical field, be specifically related to the multiple degrees of freedom bionic mechanical hand of a kind of wire saws and pneumatic muscles driving.
Background technology
Traditional manipulator, its type of drive is mostly motor, hydraulic-driven, and the usual free degree is less, volume is comparatively large, heavy and do not possess compliance, and these defects make its range of application narrower.
Along with the development of electronic technology and robot bionic, the research for pneumatic muscles bionic mechanical hand is more and more general.Pneumatic muscles bionic mechanical hand has light weight, dexterous advantage, and making it be widely used in the field such as medical science, service, is the direction of technical development.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, provide a kind of multiple degrees of freedom bionic mechanical hand, this manipulator has bionical basic function, there is dexterity, safety, volume be little, power anharmonic ratio large, easily manufacture, energy-saving and environmental protection, submissive feature.
Present invention employs following technical scheme: the multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive, it is characterized in that: comprise manipulator mechanism, the artificial-muscle system of power be provided for manipulator mechanism, by power transmission to the wire saws system of manipulator mechanism and the pneumatic circuit control system controlling artificial-muscle system acting;
Described manipulator mechanism comprises one end and is positioned at movably on fixed support, and the runing rest that the other end is connected with Hooke's hinge one, the mechanical upper arm be connected with shoulder joint, the mechanical underarm being positioned at mechanical upper arm by elbow joint movably, the hand assembly being positioned at mechanical underarm by wrist joint one and wrist joint two movably and five of being positioned on the palm of hand assembly in parallel are movably pointed;
Described artificial-muscle system comprises the first pneumatic muscles, second pneumatic muscles of driving device upper arm, the 3rd pneumatic muscles of driving device underarm, drives one group of the 4th pneumatic muscles of wrist joint one, wrist joint two, five finger;
Described wire saws system comprises the some ropes being respectively used to draw runing rest, wrist joint one, wrist joint two and five finger motions.
As preferably, one end of described runing rest is positioned on fixed support movably by bearing, and described shoulder joint and Hooke's hinge one are fixed together, and are positioned at the other end of runing rest movably by Hooke's hinge one; One end of described mechanical upper arm connects shoulder joint, and the other end connects elbow joint rotationally by Hooke's hinge two.
As preferably, one end of described first pneumatic muscles is rotatably positioned on fixed support, and the other end connects rope, is driven the rotating pulley of runing rest, make runing rest realize the rotation of one degree of freedom around pulley axis by the traction of rope; One end of described second pneumatic muscles is positioned on the disk 42-1 of runing rest, and the other end bends and stretches the motion of two frees degree of taking down the exhibits with left and right by the front and back driving Hooke's hinge one and realize shoulder joint and mechanical upper arm.
As preferably, one end of described mechanical underarm is fixed on elbow joint, and the other end is connected palm by wrist joint one with wrist joint two; Described 4th pneumatic muscles one end is rotatably positioned in one end of muscle fixed mount, and the other end connects rope, gets off to realize the motion of the left rotation and right rotation of wrist joint one and two frees degree of lifting up and down of wrist joint two in the traction of rope.
As preferably, one end of described 3rd pneumatic muscles is rotatably positioned in shoulder joint, and the other end drives elbow joint by Hooke's hinge two, and the front and back realizing elbow joint are stretched and the motion of left rotation and right rotation two frees degree.
As preferably, described palm is connected with supporting seat rotationally by wrist joint axle two, and supporting seat is rotatably positioned in wrist by wrist joint axle one.
As preferably, several dactylus of each freedom of thumb, forefinger, middle finger, the third finger and little finger of toe in described five fingers are by the hinged formation of finger axle, and each finger is hinged on palm by finger axle one parallel connection rotationally of root, in same finger, the axis of finger axle one and the axes normal of other finger axle;
In described five fingers, the axis of the finger axle one of thumb is parallel with the top and bottom of palm, thumb other finger axle axis and the plane orthogonal at place, palm top and bottom.
As preferably, in two hinged ends of described dactylus, one of them hinged end fixes a pulley; Each pulley is all wound around one by hauling block and then the rope ordering about dactylus motion, be connected with one end of the 4th corresponding pneumatic muscles respectively again after the two ends of this rope are each passed through the shape dish of the thread eye in each dactylus, the reel on palm, palm wire guide, wrist and muscle fixed mount, to realize the bionic movement of every root finger three degree of freedom.
As preferably, the middle finger joint of every root finger and dactylus far away coupling, the sister block of middle finger joint one end and the pulley far away of dactylus one end far away are drawn by rope, and when sister block rotates around its axis, under the traction of rope, pulley far away also can produce corresponding rotation.
As preferably, described muscle fixed mount has two described shape dishes, two shape dishes have one group of aperture, the aperture on one of them dish is used for location the 4th pneumatic muscles, and the aperture on another dish is used as the pilot hole of rope.
Operation principle of the present invention is: when being filled with the air of different amount in pneumatic circuit, each pneumatic muscles produces different axial tensions, makes each joint of arm that corresponding motion occur.The motion of Shou Ge mechanism pulls rope by pneumatic muscles, and under the traction of rope, band movable pulley, makes wrist and each finger produce bionic movement.Therefore, realized the motion of each mechanism of manipulator by the pressure controlled in pneumatic muscles, then through the fuzzy tuning of PID, constantly regulate, make the motion state that manipulator reaches desirable.
The invention has the beneficial effects as follows: adopt pneumatic muscles, simple parallel institution, pneumatic circuit control system, wire saws system achieves the bionic movement of human arm and hand.In addition this bionic mechanical hand has the advantages such as the free degree is many, quality light, actuator force anharmonic ratio is larger, submissive, end effector is dexterous, range of movement is large, these make its versatility comparatively strong, can be employed in the field such as bionical, rehabilitation, service, industry.
Accompanying drawing explanation
Fig. 1 is the perspective view of entirety of the present invention;
Fig. 2 is the perspective view one of part body of the present invention;
Fig. 3 is the perspective view two of part body of the present invention;
Fig. 4 is the perspective view three of part body of the present invention;
Fig. 5 is the perspective view one of hand assembly in the present invention;
Fig. 6 is the perspective view two of hand assembly in the present invention;
Fig. 7 is the perspective view pointed in the present invention;
Fig. 8 is the power transmission relationship schematic diagram of hand assembly in the present invention;
Fig. 9 is pneumatic circuit control system schematic diagram of the present invention;
Figure 10 is control flow chart of the present invention.
In figure: 1. fixed support, 2. the first pneumatic muscles, 3. runing rest, 4. the second pneumatic muscles, 5. Hooke's hinge one, 6. shoulder joint, 7. the 3rd pneumatic muscles, 8. mechanical upper arm, 9. Hooke's hinge two, 10. elbow joint, 11. mechanical forearms, 12. muscle fixed mounts, 13. the 4th pneumatic muscles, 14. wrists, 15. supporting seats, 16. wrist joints one, 17. wrist joints two, 18. hand assemblies, 19. palms, 20. reels, 21. thumbs, 22. forefingers, 23. middle fingers, 24. is nameless, 25. little fingers of toe, 26. wrist joint axles two, 27. wrist joint axles one, 28. pulleys, 29. finger faggings, 30. metacarpal bone pulleys, 31. finger axles one, 32. finger metacarpal bone dactylus, 33. finger axles two, 34. bearings, 35. nearly pulleys, 36. nearly dactylus, 37. middle finger joints, 38. sister blocks, 39. pulleys far away, 40. dactylus far away, 41. rotating pulleys, 42. rotating shafts, 42-1. disk, 43 ropes, 44. rope guiding holes, 45. rope holes, 46. pilot holes, 47 compressed air source units, 48. pneumatic triple pieces, 49. magnetic valves, 50. proportional pressure valves, 51. pressure sensors, 52. pneumatic muscles, 53. angular transducers, 54. joints, 55. data collecting cards, 56. computers, 57. jointed shafts.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
Pneumatic artificial muscle of the present invention has very large potentiality as the driver of novel robot and manipulator in the application of each field.Pneumatic muscles has high bio-imitability, and the feature that its structure is simple, volume is little makes it can be attached in the structure of manipulator; The performance that its tight ness rating is high, intensity large, power anharmonic ratio is large makes it as biological muscles, can provide a power to the motion in joint; It relies on the effect of air to make its volume expand to produce pulling force, and this makes manipulator have security and compliance, simultaneously using air as medium, is conducive to energy saving standard.So, pneumatic muscles can be utilized to carry out the motion of Direct driver or indirect driving device hand.
As shown in Figure 1, the present invention includes manipulator mechanism, driving device hand mechanism kinematic artificial-muscle system, gas transmission is carried out to artificial-muscle system thus control artificial-muscle system acting pneumatic circuit control system, by the power transmission of artificial-muscle system to the wire saws system of manipulator mechanism.
In manipulator mechanism: mechanical upper arm 8 is directly positioned in shoulder joint 6 by jointed shaft 57, machinery underarm 11 is positioned on mechanical upper arm 8 by elbow joint 10 movably, hand assembly 18 is positioned on mechanical underarm by wrist joint 1, wrist joint 2 17 movably, hand assembly comprises palm 19, thumb, forefinger, middle finger, the third finger and little finger of toe, points parallel connection movably for five and is positioned on palm 19.
Fixed support 1 is connected with runing rest 3 by rotating shaft 42; Runing rest is connected with Hooke's hinge 1 by rotating shaft; Shoulder joint and Hooke's hinge one are fixing, and mechanical upper arm is directly connected with shoulder joint by jointed shaft, and the other end of mechanical upper arm connects elbow joint rotationally by Hooke's hinge two; One end of machinery underarm is fixed on elbow joint, and the other end is connected with wrist 14 by wrist joint one, and wrist 14 is connected with supporting seat 15 by wrist axis 1; Palm is connected with wrist joint two rotationally by wrist axis 2 26.
Described five finger structures are identical, and several dactylus of each freedom are by the hinged formation of finger axle, and each finger is hinged on palm by finger axle 1 parallel connection rotationally of root.For little finger of toe (see Fig. 7): pointing metacarpal bone dactylus 32, point nearly dactylus 36, point middle finger joint 37, pointing dactylus 40 far away respectively by being articulated as one with pointing the mutual axis being parallel of axle 2 33, these axis are parallel with palmar aspect (these finger axle axis of thumb are vertical with palmar aspect) also, wherein hinged finger metacarpal bone dactylus and the axes normal of the finger axle 1 of finger fagging point the axis (this place of thumb points the axis being parallel of axle in palmar aspect) of axle in other dactylus hinged, and finger fagging 29 is fixed on palm.
As seen from Figure 7: one end of finger fagging with the one end pointing metacarpal bone dactylus 32 is hinged by finger axle one (is wherein pointed fagging and pointed between axle one and bearing 34 is housed, finger axle one mid point is fixed wtih metacarpal bone pulley 30, its axis and the axis coaxle with finger axle one), the left-right rotation of whole finger can be realized, make two adjacent fingers have the function of gripping.
One end of finger metacarpal bone dactylus (is wherein pointed between metacarpal bone dactylus and finger axle two by the one end pointing axle 2 33 and the nearly dactylus 36 of finger is hinged and bearing is housed, the hinged end pointing nearly dactylus is fixed wtih nearly pulley 35, axis and the axis coaxle pointing axle two herein of nearly pulley).
One end that finger closely refers to (is wherein pointed between nearly dactylus and finger axle two by the one end pointing axle two and finger middle finger joint 37 is hinged and bearing is housed, the hinged end of finger middle finger joint is fixed wtih sister block 38, the axis of sister block and the axis coaxle of finger axle two).
One end of finger middle finger joint by finger axle two with point that dactylus 40 far away is hinged (wherein points middle finger joint and point between axle two and bearing is housed, the hinged end pointing dactylus far away is fixed wtih finger pulley 39 far away, points the axis of pulley far away and the axis coaxle of finger axle two).
In described pneumatic muscles system: two parallel first pneumatic muscles 2 one end are positioned on fixed support actively, the other end is by the traction of rope, driven rotary pulley 41 makes runing rest 3 rotate around its axis, wherein rotating pulley is fixed on rotating shaft 42, with the axis coaxle of rotating shaft; One end of four parallel the second pneumatic muscles 4 is positioned on runing rest, and the other end is by driving the motion of bending and stretching and take down the exhibits of Hooke's hinge one Direct driver shoulder joint and mechanical upper arm.Four parallel the 3rd pneumatic muscles 7 one end are rotatably mounted in shoulder joint, and the other end is bent and stretched and rotary motion by Hooke's hinge 29 Direct driver elbow joint and mechanical underarm; Four parallel the 4th pneumatic muscles 13 one end are rotatably positioned on the shape dish of muscle fixed mount, the other end connects rope, by the traction of rope, drive the left rotation and right rotation of wrist joint one and lifting up and down of wrist joint two to stretch motion, the motion of five fingers simultaneously is also pulled between rope by 30 the 4th pneumatic muscles and fetches driving.
Fig. 8 represents the annexation of little finger of toe and four ropes 43: the corresponding pulley of every root rope draws; The two ends of every root rope are successively through the directive wheel 20 of thorny palm again after the rope guiding hole 44 of each dactylus, after the rope hole 45 of palm arrives the pilot hole 46 (i.e. aperture) on muscle fixed mount shape dish with the carpal rope of traction through wrist 14, finally be connected with the 4th corresponding pneumatic muscles, wherein the dactylus far away of every root finger and middle finger joint are easily coupled when moving, indirectly drive so share a pair the 4th pneumatic muscles, rely on sister block to drive pulley far away under the traction of rope, thus realize the motion in joint far away.
What Fig. 9 showed is pneumatic circuit control system, is made up of compressed air source unit 47, pneumatic triple piece 48, magnetic valve 49, proportional pressure valve 50, pressure sensor 51, pneumatic muscles 52, angular transducer 53, joint 54, data collecting card 55, computer 56.Utilize VB software programming program on computers, the fuzzy tuning adding pid parameter controls, set up control inerface, the operational order of input pneumatic muscles bionic mechanical hand, by the D/A mouth of data collecting card and I/O mouth electromagnetic valve for adjusting, proportional pressure valve respectively, by controlling the air compressing amount of each pneumatic muscles of air-channel system, thus realize the motion in each joint.Pressure sensor detects the situation of pressure in pneumatic muscles, the anglec of rotation in angular transducer detection joint simultaneously, detected analog signal is fed back to data collecting card, change through A/D, the fuzzy tuning of PID, be input to control inerface, after adjustment repeatedly, each joint reaches desirable motion state, thus achieves the bionic movement of manipulator.
The course of work of the present invention is as follows:
Assembly manipulator mechanism, connects air-path control system, switches on power, open compressed air source unit, and gas, through pneumatic triple piece, magnetic valve, arrives proportional pressure valve.
Utilize VB software, PID controller, editor control interface, data collecting card is connected communication with computer USB line, through D/A mouth, give magnetic valve, proportional pressure valve voltage signal respectively, control the flow of gas in gas circuit, and then regulate the internal pressure of each pneumatic muscles, pneumatic muscles is by rope, and drive pulley rotates, and realizes the motion of each mechanism.Pressure sensor simultaneously, the analog signal collected is fed back to data collecting card by angular transducer, after the fuzzy tuning of A/D conversion, PID, again regulates the motion of each mechanism of manipulator, thus reaches desirable motion state.
According to the space motion location requirement of bionic mechanical hand, wherein shoulder joint is driven by three pairs of pneumatic muscles, and elbow joint, wrist joint are driven by two pairs of pneumatic muscles respectively, and each finger is driven by three pairs of pneumatic muscles respectively.When being filled with the air of different pressures in pneumatic muscles, each pass festival-gathering produces corresponding rotation.Add remote control module in the controls, the far distance controlled of manipulator can also be realized.
Finally, it should be noted that above what enumerate is only specific embodiments of the invention.Obviously, the invention is not restricted to above embodiment, a lot of distortion can also be had.All distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention, all should think protection scope of the present invention.
Claims (10)
1. the multiple degrees of freedom bionic mechanical hand that drives of wire saws and pneumatic muscles, is characterized in that: comprise manipulator mechanism, the artificial-muscle system of power be provided for manipulator mechanism, by power transmission to the wire saws system of manipulator mechanism and the pneumatic circuit control system controlling artificial-muscle system acting;
Described manipulator mechanism comprises one end and is positioned on fixed support (1) movably, and the runing rest (3) that the other end is connected with Hooke's hinge one (5), the mechanical upper arm (8) be connected with shoulder joint (6), the mechanical underarm (11) being positioned at mechanical upper arm by elbow joint (10) movably, the hand assembly (18) being positioned at mechanical underarm by wrist joint one (16) and wrist joint two (17) movably and five of being positioned on the palm (19) of hand assembly in parallel are movably pointed;
Described artificial-muscle system comprises the first pneumatic muscles (2), second pneumatic muscles (4) of driving device upper arm, 3rd pneumatic muscles (7) of driving device underarm, drives one group of the 4th pneumatic muscles (13) of wrist joint one (16), wrist joint two (17), five finger;
Described wire saws system comprises the some ropes (43) being respectively used to draw runing rest, wrist joint one, wrist joint two and five finger motions.
2. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 1 and pneumatic muscles driving, it is characterized in that: one end of described runing rest (3) is positioned on fixed support (1) by bearing movably, described shoulder joint (6) and Hooke's hinge one (5) are fixed together, and are positioned at the other end of runing rest movably by Hooke's hinge one (5); One end of described mechanical upper arm (8) connects shoulder joint (6), and the other end connects elbow joint (10) rotationally by Hooke's hinge two (9).
3. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 2 and pneumatic muscles driving, it is characterized in that: one end of described first pneumatic muscles is rotatably positioned on fixed support, the other end connects rope, driven the rotating pulley (41) of runing rest (3) by the traction of rope, make runing rest realize the rotation of one degree of freedom around pulley axis; One end of described second pneumatic muscles is positioned on the disk (42-1) of runing rest, and the other end bends and stretches the motion of two frees degree of taking down the exhibits with left and right by the front and back driving Hooke's hinge one and realize shoulder joint and mechanical upper arm.
4. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 3 and pneumatic muscles driving, is characterized in that: one end of described mechanical underarm is fixed on elbow joint, and the other end is connected palm by wrist joint one with wrist joint two; Described 4th pneumatic muscles one end is rotatably positioned in one end of muscle fixed mount (12), and the other end connects rope, gets off to realize the motion of the left rotation and right rotation of wrist joint one and two frees degree of lifting up and down of wrist joint two in the traction of rope.
5. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 4 and pneumatic muscles driving, it is characterized in that: one end of described 3rd pneumatic muscles is rotatably positioned in shoulder joint, the other end drives elbow joint by Hooke's hinge two, realizes the front and back stretching, extension of elbow joint and the motion of left rotation and right rotation two frees degree.
6. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 5 and pneumatic muscles driving, it is characterized in that: described palm (19) is connected with supporting seat (15) rotationally by wrist joint axle two (26), supporting seat is rotatably positioned in wrist (14) by wrist joint axle one (27).
7. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 6 and pneumatic muscles driving, it is characterized in that: the thumb (21) in described five fingers, forefinger (22), middle finger (23), nameless (24) and several dactylus of little finger of toe (25) each freedom are by the hinged formation of finger axle, and each finger is hinged on palm by finger axle one (31) parallel connection rotationally of root, in same finger, the axis of finger axle one (31) and the axes normal of other finger axle;
In described five fingers, the axis of the finger axle one (31) of thumb is parallel with the top and bottom of palm, thumb other finger axle axis and the plane orthogonal at place, palm top and bottom.
8. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 7 and pneumatic muscles driving, is characterized in that: in two hinged ends of described dactylus, one of them hinged end fixes a pulley; Each pulley is all wound around one by hauling block and then the rope ordering about dactylus motion, be connected with one end of the 4th corresponding pneumatic muscles respectively again after the two ends of this rope are each passed through the shape dish of the thread eye (44) in each dactylus, the reel (20) on palm, palm wire guide (45), wrist and muscle fixed mount, to realize the bionic movement of every root finger three degree of freedom.
9. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 8 and pneumatic muscles driving, it is characterized in that: the middle finger joint (37) of every root finger and dactylus far away (40) coupling, the sister block (38) of middle finger joint one end and the pulley far away (39) of dactylus one end far away are drawn by rope, when sister block rotates around its axis, under the traction of rope, pulley far away also can produce corresponding rotation.
10. the multiple degrees of freedom bionic mechanical hand of a kind of wire saws according to claim 9 and pneumatic muscles driving, it is characterized in that: described muscle fixed mount has two described shape dishes, two shape dishes there is one group of aperture, aperture on one of them dish is used for location the 4th pneumatic muscles, and the aperture on another dish is used as the pilot hole (46) of rope.
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| CN201510332488.2A CN104942791B (en) | 2015-06-16 | 2015-06-16 | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator |
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| CN106113026A (en) * | 2016-07-27 | 2016-11-16 | 昆山塔米机器人有限公司 | The closed loop pneumatic device that position is accurately controlled |
| CN108852739A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of upper limb healing arm of band from tensioning function wire rope gearing |
| CN108990879A (en) * | 2018-08-15 | 2018-12-14 | 山东商业职业技术学院 | A kind of fresh and living aquatic products temporarily support device |
| CN109109001A (en) * | 2018-07-25 | 2019-01-01 | 宁波市智能制造产业研究院 | A kind of manipulator restoring magic square |
| CN109785723A (en) * | 2019-03-11 | 2019-05-21 | 贵阳市第四人民医院 | A kind of Simple elbow joint biomechanics experiment system |
| CN110549355A (en) * | 2019-07-29 | 2019-12-10 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| CN111300385A (en) * | 2020-04-01 | 2020-06-19 | 大连理工大学 | Multi-degree-of-freedom continuous robot with function of flexibly grabbing target |
| CN111546326A (en) * | 2020-05-22 | 2020-08-18 | 嘉兴学院 | Based on cylinder and pneumatic muscle humanoid robot system |
| US11872152B2 (en) | 2020-07-17 | 2024-01-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Appendage pressurization devices comprising artificial muscles |
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| CN109785723B (en) * | 2019-03-11 | 2021-03-16 | 贵阳市第四人民医院 | Simple elbow joint biomechanics experiment system |
| CN110549355A (en) * | 2019-07-29 | 2019-12-10 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| CN111300385A (en) * | 2020-04-01 | 2020-06-19 | 大连理工大学 | Multi-degree-of-freedom continuous robot with function of flexibly grabbing target |
| CN111300385B (en) * | 2020-04-01 | 2021-08-06 | 大连理工大学 | Multi-degree-of-freedom continuous robot with function of flexibly grabbing target |
| CN111546326A (en) * | 2020-05-22 | 2020-08-18 | 嘉兴学院 | Based on cylinder and pneumatic muscle humanoid robot system |
| US11872152B2 (en) | 2020-07-17 | 2024-01-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Appendage pressurization devices comprising artificial muscles |
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