CN106695854A - Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger - Google Patents
Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger Download PDFInfo
- Publication number
- CN106695854A CN106695854A CN201710160217.2A CN201710160217A CN106695854A CN 106695854 A CN106695854 A CN 106695854A CN 201710160217 A CN201710160217 A CN 201710160217A CN 106695854 A CN106695854 A CN 106695854A
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- Prior art keywords
- finger
- flexible
- micro
- pneumatic
- sensitive
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- 239000007788 liquid Substances 0.000 claims abstract description 15
- 230000037361 pathway Effects 0.000 claims description 49
- 239000011159 matrix material Substances 0.000 claims description 41
- 238000009826 distribution Methods 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 229910001128 Sn alloy Inorganic materials 0.000 claims description 6
- 239000013013 elastic material Substances 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 6
- 229920002379 silicone rubber Polymers 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000004945 silicone rubber Substances 0.000 claims description 3
- 208000002925 dental caries Diseases 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 2
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims 1
- 229910052733 gallium Inorganic materials 0.000 claims 1
- RHZWSUVWRRXEJF-UHFFFAOYSA-N indium tin Chemical compound [In].[Sn] RHZWSUVWRRXEJF-UHFFFAOYSA-N 0.000 claims 1
- 238000012271 agricultural production Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000007123 defense Effects 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 244000060701 Kaempferia pandurata Species 0.000 abstract 1
- 235000016390 Uvaria chamae Nutrition 0.000 abstract 1
- 239000000956 alloy Substances 0.000 abstract 1
- 229910045601 alloy Inorganic materials 0.000 abstract 1
- 230000000694 effects Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 241001212149 Cathetus Species 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000035800 maturation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005511 kinetic theory Methods 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
A pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger comprises a cylindrical flexible finger base body and a circular-truncated-cone-shaped flexible connecting base body. The flexible finger base body is provided with four pneumatic cavities distributed circumferentially and evenly in the axial direction. A bent inner core is arranged at the axis of the flexible finger base body, and tube connectors are arranged at the end of the flexible finger base body. Four micro sensitive channels distributed circumferentially and evenly are formed in the peripheries of the pneumatic cavities. Each micro sensitive channel comprises an arc sensitive channel body and a linear sensitive channel body and is filled with gallium-indium-tin liquid alloy or a liquid sensitive piezoresistive element. Four rubber tube connectors are arranged at the finger root of the flexible nimble finger and correspond to the pneumatic cavities. The pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger has the advantages of being simple in structure, low in weight, clean, safe, large in working space, high in control precision and the like, the effect that the multi-degree-of-freedom flexible mechanical finger has high precision during operation can be ensured, and the finger can be widely applied to the multiple fields such as industrial and agricultural production, national defense security and medical rehabilitation.
Description
Technical field
The invention belongs to field in intelligent robotics, more particularly, it relates to more than a kind of pneumatic redundancy of perception certainly certainly
By the flexible skillful finger of degree.
Background technology
The core parts that mechanical hand is operated as robot end, since the development of the robot technology of broad sense, just by
Extensive research.Following a few classes can be classified as by the characteristic in terms of mechanical hand composition material：It is extensive in industrial carrying
Rigid Manipulators, the hard and soft hybrid manipulator of apery formula and the pure flexible Dextrous Hand for using.The advantage of conventional rigid manipulator is
The foundation motion of its rigid structure and its maturation, kinetic theory Mathematical Modeling, rigid structure can carry larger power,
And the theoretical foundation of maturation is easy to move it and is controlled.Hard and soft hybrid manipulator is and has rigid structure and flexible structure concurrently
Manipulator, rigid structure can be driven to drive flexible structure to be moved, make it is overall there is certain compliance, while being also equipped with
The characteristics of rigid structure；Can also drive flexible material to drive rigid structure, rigid structure to play a supportive role wherein in addition, this
Sample to a certain extent, maintains the integral rigidity of structure and the motion of determination.
Pure flexible Dextrous Hand essentially consists in the multiple degrees of freedom of its flexible material, compliance and adaptability with height, energy
Enough shapes for adapting to crawl thing, will not cause to damage to crawl thing.The current research direction of pure flexible Dextrous Hand is mainly fluid
Drive and some new materials drive, and pneumatic one kind driven as fluid in branch, because its is lightweight, it widely should
In light flexible Dextrous Hand, lightweight, low cost, submissive multiple degrees of freedom Dextrous Hand high can be produced.
Even so, pneumatic shillful hand remains certain problem, its crawl dynamics is inadequate, and to target during crawl
Adaptability it is not strong, security is relatively low.For such case, flexural loading is worked out from flexible finger is perceived, it can overcome
Sensor installation difficulty in pneumatic shillful finger, it is difficult to form the shortcoming of closed-loop control, finger knot is embedded into by force checking device
In structure, the closed-loop control of finger motion is capable of achieving, improves the safety and reliability of crawl.
The content of the invention
In order to solve shortcoming present in prior art, the present invention proposes a kind of new based on pneumatic superfluous from perceiving
Remaining multiple degrees of freedom flexible skillful finger, it has good compliance, and control accuracy is high, can realize multivariant motion, and
It is easy to modularization, can be used to build the pneumatic flexible hand of finger more.
The technical solution adopted by the present invention is as follows：
It is a kind of pneumatic from perceiving redundancy multiple degrees of freedom flexible skillful finger, including cylindrical pliable finger matrix 1 and with institute
State the truncated cone-shaped flexible connection matrix 2 of the grade circle of cylindrical pliable finger matrix 1；The flexible finger matrix 1 is provided with four vertically
Individual circumferentially equally distributed pneumatic cavity 3, the pneumatic cavity 3 is cylinder, is being near one end of flexible connection matrix 2
Opening shape, the other end is in closed；Bending inner core 4 is housed and pipe is provided with end in the axle center of the flexible finger matrix 1 and is connect
Mouth 16；Four groups of circumferentially equally distributed micro- sensitive pathways 5 are formed around in the pneumatic cavity 3；Micro- sensitive pathway 5 is wrapped
Include one group of arc distribution micro- sensitive pathway 6 and one group of micro- sensitive pathway 7 of lineal layout；The arc is distributed micro- sensitive pathway 6 and wraps
Include several axial arc distribution straight channels 9 and the several arcs at the both ends of flexible finger matrix 1 are distributed interface channel 10, arc
Distribution beeline channel 9 and arc distribution interface channel 10 is sequentially connected, formed one from the first arc distribution microchannel port 8 to
The arc of the snakelike distribution of the second arc distribution insertion of microchannel port 11 is distributed micro- sensitive pathway, and arc is distributed micro- sensitive pathway
Inside is filled with liquid gallium-indium-tin alloy or liquid sensitive resistance element, and respectively a piece signal detection of extraction is led at passage two-port
Line；The micro- sensitive pathway 7 of lineal layout includes several axial lineal layout beeline channels 13 and at the two ends of flexible finger matrix 1
Several lineal layout interface channels 14 in portion, lineal layout beeline channel 13 is sequentially connected with lineal layout interface channel 14, shape
Into one from first straight line be distributed microchannel port 12 to second straight line distribution the insertion of microchannel port 15 snakelike distribution it is straight
Line is distributed micro- sensitive pathway, and liquid gallium-indium-tin alloy or liquid sensitive resistance element are filled with inside the micro- sensitive pathway of lineal layout,
And a signal detection wire is respectively drawn at passage two-port；Four glue that the finger heel of the flexible skillful finger 1 is provided with
Interface tube 16, corresponding to 4 pneumatic inner chambers.
The structure of the flexible finger matrix 1 and flexible connection matrix 2 uses flexible silicone rubber or highly elastic material；Institute
State bending inner core 4 and use the silicon rubber or highly elastic material bigger than the material stiffness of flexible finger matrix 1.
Due to using above-mentioned technical proposal, it is a kind of pneumatic from perception redundancy multiple degrees of freedom flexible Dextrous Hand that the present invention is provided
Refer to, compared with prior art with such beneficial effect：
It is of the invention compared with current rigid structure manipulator, crawl object of different shapes that can be submissive, and to thing
Body uniform force application, is difficult to damage crawl thing, can be widely used in the automation crawl to rapid wear thing.Additionally, logical
Cross the gas that different pressures are passed through in four pneumatic inner chambers of flexible finger, form pressure differential, make flexible finger flexible to
Any direction, and increase the degree of crook of finger by being provided with flexible bending inner core so that the flexible finger is obtained in that
The wider free degree and bending situation, increased the working space of conventional flex finger.
Be embedded into finger structure for power and position detecting device by the present invention, is molded as one with finger matrix, it is ensured that
Finger can realize the closed-loop control of finger motion from the reliability of perceptional function, improve the precision of crawl, it is ensured that crawl
Reliability.
In sum, the present invention has a simple structure, lightweight, clean and safe, and working space is big, control is accurate high excellent
Point, ensure that multiple degrees of freedom flexible mechanical finger operationally has larger precision, can be in industrial and agricultural production, national defense safety
And be widely applied in the multiple fields such as medical rehabilitation.
Brief description of the drawings
Fig. 1 is the present invention pneumatic from the external structure schematic diagram for perceiving redundancy multiple degrees of freedom flexible skillful finger；
Fig. 2 is the structural representation of component part 2 in Fig. 1；
Fig. 3 be Fig. 1 in from front view from part 2 to the direction of part 1；
Fig. 4 is the structural representation of component part 1 in Fig. 1；
Fig. 5 is that the part of the pneumatic micro- sensitive pathway of arc from perceiving redundancy multiple degrees of freedom flexible skillful finger of the present invention is put
Big figure；
Fig. 6 is the present invention pneumatic from the part for perceiving the redundancy multiple degrees of freedom flexible skillful finger micro- sensitive pathway of cathetus shape
Enlarged drawing.
In figure：1st, flexible finger matrix；2nd, it is flexibly connected matrix；3rd, pneumatic cavity；4th, inner core is bent；5th, it is micro- sensitive logical
Road；6th, arc distribution microchannel；7th, linear distribution microchannel；8th, the first arc distribution microchannel port；9th, arc distribution is straight
Line passage；10th, arc distribution interface channel；11st, the second arc distribution microchannel port；12nd, first straight line distribution microchannel end
Mouthful；13rd, lineal layout beeline channel；14th, lineal layout interface channel；15th, second straight line distribution microchannel port；16th, air inlet
Interface tube.
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
One kind of the invention is pneumatic from redundancy multiple degrees of freedom flexible skillful finger is perceived, as shown in Fig. 1-4, including cylinder
Shape flexible finger matrix 1 and the truncated cone-shaped flexible connection matrix 2 with the grade circle of the cylindrical pliable finger matrix 1, the flexibility
The structure of the flexible connection matrix 2 of finger matrix 1 using flexible silicone rubber or other meet the highly elastic material of performance requirement；Institute
State flexible finger matrix 1 and four circumferentially equally distributed pneumatic cavitys 3, institute are molded by integral molding technology vertically
It is cylinder to state pneumatic cavity 3, opening-like in the one end for being close to flexible connection matrix 2, and the other end is in closed；Described soft
Property finger matrix 1 axle center equipped with bending inner core 4, using hardness than the silicon rubber of 1 big 2 times of flexible finger matrix or other meet
The highly elastic material filling of performance requirement, using second pouring technique, makes it be fitted with flexible finger matrix 1 completely, and at end
Portion is provided with interface tube 16 for being passed through gas；Four groups of circumferentially equally distributed micro- sensitivities are formed around in the pneumatic cavity 3
Passage 5, micro- sensitive pathway 5 includes one group of arc distribution micro- sensitive pathway 6 and one group of micro- sensitive pathway 7 of lineal layout；Institute
State arc and be distributed micro- sensitive pathway 6 including several axial arcs distribution straight channels 9 and in the several of the both ends of flexible finger matrix 1
Arc is distributed interface channel 10, and arc distribution beeline channel 9 and arc distribution interface channel 10 is sequentially connected, and one article of formation is from the
The arc of the snakelike distribution of the one arc distribution arc of microchannel port 8 to the second distribution insertion of microchannel port 11 is distributed micro- sensitivity
Passage, arc is distributed inside micro- sensitive pathway and is filled with liquid gallium-indium-tin alloy or other meet the liquid sensitive resistance of performance requirement
Element, and a signal detection wire is respectively drawn at passage two-port；The micro- sensitive pathway 7 of lineal layout includes several axles
To lineal layout beeline channel 13 and the several lineal layout interface channels 14 at the both ends of flexible finger matrix 1, lineal layout
Beeline channel 13 is sequentially connected with lineal layout interface channel 14, forms one article and is distributed microchannel port 12 to the from first straight line
The micro- sensitive pathway of lineal layout of the snakelike distribution of the insertion of two lineal layout microchannel port 15, in the micro- sensitive pathway of lineal layout
Portion is filled with liquid gallium-indium-tin alloy or other meet the liquid sensitive resistance element of performance requirement, and respectively draws at passage two-port
Go out a signal detection wire；The arc is distributed micro- sensitive pathway 6 and the micro- sensitive pathway 7 of lineal layout in matrix 1 by taking out
Wire forming process is made, and a diameter of 0.01mm, length changes with different finger lengths, and sensitive pathway junction is in matrix
The straight notch-like passage of middle shaping, depth is 0.02mm；Arc is distributed micro- sensitive pathway 6 and the micro- sensitive pathway 7 of lineal layout exists
It is filled with liquid sensitivity impedor and after access port loads external lead wire, two ends are sealed with flexible glue；Its cathetus
The micro- sensitive pathway 7 of type is used for the detection of digital flexion, and the micro- sensitive pathway 6 of arc is used for the detection of finger touch power, detection mode
Processed by the way of difference, made the result of detection accurately and reliably；Finally, the flexible Dextrous Hand according to detection bends and receives
The size of power is controlled come the precise motion for being fed back；The finger heel of the flexible skillful finger is provided with four sebific duct interfaces, right
Should be sealed with flexible special glue in corresponding pneumatic inner chamber.
The operation principle of described flexible skillful finger is to be passed through not by four pneumatic inner chambers 3 of flexible finger
With the gas of pressure, pressure differential is formed, make flexible finger flexible to any direction, and by being provided with flexible bending inner core 4
To increase the degree of crook of finger.Due to the rigidity of the rigidity less than digital flexion inner core 4 of the pneumatic cavity lateral wall of finger, therefore
In finger during air cavity forced expansion, can be bent to the big inner core direction of rigidity, the pressure differential of comprehensive other inner chambers, finger can enter
The bending of row certain angle.
When flexible skillful finger bends, the length for being arranged on micro- sensitive pathway 5 of finger surrounding can become with diameter
Change, cause the resistance of the sensitive material inside micro- sensitive pathway to change, by according to the differential detection of four groups of sensitive pathways
The change size of its sensitive material resistance determines direction and the size of flexible skillful finger angle of bend.When digital flexion simultaneously
When touching object, object can produce pressure, the deformation of arc sensitive pathway to the sensitive pathway in direction where object in finger
Become apparent, on the basis of flexural deformation causes resistance to deform, sensitive pathway produces the extra resistance change of pressure, is to thing
The signal magnitude of body grasp force.Detection mode is processed by the way of difference, makes the structure of detection accurately and reliably.Finally,
The size of the bending of flexible Dextrous Hand and stress according to detection is controlled come the precise motion for being fed back.
On the premise of essence of the present invention is not departed from, using the implementation method of various multi-forms, without creatively setting
Planform or the layout such as distribution of change microchannel and air cavity similar with the present invention, size etc. are counted out, belongs to the present invention
The protection domain of patent.
Claims (4)
1. a kind of pneumatic from perception redundancy multiple degrees of freedom flexible skillful finger, it is characterised in that：It includes cylindrical pliable finger
Matrix (1) and truncated cone-shaped flexible connection matrix (2) round with the cylindrical pliable finger matrix (1) etc.；The flexible finger
Matrix (1) is provided with four circumferentially equally distributed pneumatic cavitys (3) vertically, and the pneumatic cavity (3) is cylinder, is being leaned on
One end of nearly flexible connection matrix (2) is opening-like, and the other end is in closed；Filled in the axle center of the flexible finger matrix (1)
There is bending inner core (4) and be provided with interface tube (16) in end；Four groups are formed around in the pneumatic cavity (3) circumferentially uniformly to divide
Micro- sensitive pathway (5) of cloth；Micro- sensitive pathway (5) is distributed micro- sensitive pathway (6) and one group of straight line point including one group of arc
The micro- sensitive pathway of cloth (7)；The arc is distributed micro- sensitive pathway (6) and is distributed straight channel (9) and soft including several axial arcs
Property finger matrix (1) both ends several arcs be distributed interface channel (10), arc be distributed beeline channel (9) with arc be distributed connect
Connect road (10) to be sequentially connected, form one and microchannel end is distributed from the first arc distribution microchannel port (8) to the second arc
The arc of the snakelike distribution of mouth (11) insertion is distributed micro- sensitive pathway, and arc is distributed inside micro- sensitive pathway and is filled with liquid gallium indium tin
Alloy or liquid sensitive resistance element, and a signal detection wire is respectively drawn at passage two-port；The lineal layout is micro-
Sensitive pathway (7) is including several axial lineal layout beeline channels (13) and in the several straight of flexible finger matrix (1) both ends
Line is distributed interface channel (14), and lineal layout beeline channel (13) is sequentially connected with lineal layout interface channel (14), forms one
Bar is distributed the straight of the snakelike distribution of microchannel port (15) insertion from first straight line distribution microchannel port (12) to second straight line
Line is distributed micro- sensitive pathway, and liquid gallium-indium-tin alloy or liquid sensitive resistance element are filled with inside the micro- sensitive pathway of lineal layout,
And a signal detection wire is respectively drawn at passage two-port；The finger heel of the flexible skillful finger (1) is provided with four glue
Interface tube (16), corresponding to 4 pneumatic inner chambers.
2. one kind according to claim 1 is pneumatic from perception redundancy multiple degrees of freedom flexible skillful finger, it is characterised in that：Institute
The structure for stating flexible finger matrix (1) and flexible connection matrix (2) uses flexible silicone rubber or highly elastic material；The bending
Inner core (4) uses the silicon rubber or highly elastic material bigger than flexible finger matrix (1) material stiffness.
3. one kind according to claim 1 is pneumatic from perception redundancy multiple degrees of freedom flexible skillful finger, it is characterised in that：Institute
State the micro- sensitive pathway (6) of arc distribution and the micro- sensitive pathway of lineal layout (7) be made up in matrix () 1 of reeling off raw silk from cocoons moulding process,
A diameter of 0.01mm, length changes with different finger lengths, and sensitive pathway junction is the straight trough mouthful being molded in the base
Shape passage, depth is 0.02mm.
4. one kind according to claim 2 is pneumatic from perception redundancy multiple degrees of freedom flexible skillful finger, it is characterised in that：Institute
State the micro- sensitive pathway (6) of arc distribution and the micro- sensitive pathway of lineal layout (7) be made up in matrix (1) of reeling off raw silk from cocoons moulding process,
A diameter of 0.01mm, length changes with different finger lengths, and sensitive pathway junction is the straight trough mouthful being molded in the base
Shape passage, depth is 0.02mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160217.2A CN106695854A (en) | 2017-03-17 | 2017-03-17 | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160217.2A CN106695854A (en) | 2017-03-17 | 2017-03-17 | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695854A true CN106695854A (en) | 2017-05-24 |
Family
ID=58886804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710160217.2A Pending CN106695854A (en) | 2017-03-17 | 2017-03-17 | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger |
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| Country | Link |
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| CN (1) | CN106695854A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144389A (en) * | 2017-06-09 | 2017-09-08 | 燕山大学 | Insertion type strip Grazing condition multi-dimension force sensor |
| CN107139207A (en) * | 2017-05-25 | 2017-09-08 | 东北大学 | A kind of pneumatic software finger, software finger control system and control method |
| CN108340391A (en) * | 2018-03-06 | 2018-07-31 | 吉林大学 | Flexible drive bionics massage manipulator based on Pneumatic artificial muscle |
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN111015741A (en) * | 2019-12-13 | 2020-04-17 | 西安交通大学 | Flexible driver integrating perception and execution |
| CN111716341A (en) * | 2020-06-01 | 2020-09-29 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111913571A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Flexible material 3D prints fingertip tactile feedback executor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9120379D0 (en) * | 1991-09-25 | 1991-11-06 | Univ Bristol | Robotic gripper |
| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN106476021A (en) * | 2016-12-23 | 2017-03-08 | 燕山大学 | A kind of flexible feeler of power position detection |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9120379D0 (en) * | 1991-09-25 | 1991-11-06 | Univ Bristol | Robotic gripper |
| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN106476021A (en) * | 2016-12-23 | 2017-03-08 | 燕山大学 | A kind of flexible feeler of power position detection |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139207A (en) * | 2017-05-25 | 2017-09-08 | 东北大学 | A kind of pneumatic software finger, software finger control system and control method |
| CN107139207B (en) * | 2017-05-25 | 2020-02-11 | 东北大学 | Pneumatic soft finger, soft finger control system and control method |
| CN107144389B (en) * | 2017-06-09 | 2022-11-25 | 燕山大学 | Embeddable strip-shaped fully-flexible multi-dimensional force sensor |
| CN107144389A (en) * | 2017-06-09 | 2017-09-08 | 燕山大学 | Insertion type strip Grazing condition multi-dimension force sensor |
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108340391A (en) * | 2018-03-06 | 2018-07-31 | 吉林大学 | Flexible drive bionics massage manipulator based on Pneumatic artificial muscle |
| CN108340391B (en) * | 2018-03-06 | 2023-10-03 | 吉林大学 | Flexible driving bionic massage manipulator based on pneumatic artificial muscle |
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN108818590B (en) * | 2018-07-23 | 2022-12-30 | 中国地质大学（武汉） | Dexterous hand of liquid metal robot |
| CN111015741A (en) * | 2019-12-13 | 2020-04-17 | 西安交通大学 | Flexible driver integrating perception and execution |
| CN111015741B (en) * | 2019-12-13 | 2021-04-27 | 西安交通大学 | Flexible driver integrating perception and execution |
| CN111716341B (en) * | 2020-06-01 | 2021-05-11 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111716341A (en) * | 2020-06-01 | 2020-09-29 | 大连理工大学 | Magnetically variable stiffness soft robot driving module and manufacturing method thereof |
| CN111913571A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Flexible material 3D prints fingertip tactile feedback executor |
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Application publication date: 20170524 |