CN107139207A - A kind of pneumatic software finger, software finger control system and control method - Google Patents
A kind of pneumatic software finger, software finger control system and control method Download PDFInfo
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- CN107139207A CN107139207A CN201710378315.3A CN201710378315A CN107139207A CN 107139207 A CN107139207 A CN 107139207A CN 201710378315 A CN201710378315 A CN 201710378315A CN 107139207 A CN107139207 A CN 107139207A
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- air pressure
- curvature
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- finger
- contact force
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
The present invention provides a kind of pneumatic software finger, software finger control system and control method, the software finger includes the drive part provided with driving air cavity and the perception part provided with perception air cavity, drive part and part is perceived using the manufacture of shaped deposition technology integration, realize the highly integrated of driving and perception.The control device of the present invention only just can realize the measurement to finger bending curvature and contact force by the air pressure of detection senses air cavity, measurement scheme of the tradition by bend sensor and contact force sensor is compared, with the features such as simple in construction, integration degree is high, cost is low, finger compliance is good.The control method of the present invention, so as to be measured to finger bending curvature and contact force, realizes the closed-loop control of opponent's abutment power by detection senses air cavity air pressure, coordinates crawl to lay the foundation to complete many fingers.
Description
Technical field
The present invention relates to soft robot field, more particularly to a kind of pneumatic software finger, software finger control system and
Control method.
Background technology
Current manipulator is usually rigid structure, is driven using rigid drivers such as motor, hydraulic cylinders, with structure
Complexity, cost is high, and security, compliance are poor, not easy to install the shortcomings of safeguard.In recent years, the appearance of pneumatic software hand is well
The shortcoming of conventional rigid manipulator is compensate for, because its main body is often from flexible materials such as silicon rubber, manufactured by shaped deposition,
The modes such as 3D printing are manufactured, and are driven by compressed air, therefore it possesses security well and compliance, while having knot concurrently
The features such as structure is simple, manufacturing cost is low, power density ratio is high, can preferably be obedient to the change of environment, therefore it is by numerous states
The concern of inside and outside colleges and universities and scientific research institutions, and show up prominently in industrial sorting field.
Current most of pneumatic software fingers come to the curved of finger yet by installation bend sensor or contact force sensor
Curvature and chucking power are detected, larger yet with pneumatic software hand pliability itself, therefore are selected and installed in sensor
In terms of be limited by very large, and this test mode cost is higher, and sensory perceptual system is complex, so that big at present
Most pneumatic software hands, still also in the laboratory research stage, constrain its commercialization in numerous domains in terms of closed-loop control
And it is practical.
The content of the invention
The embodiment of the present invention a kind of pneumatic software finger be provided selected with to solve existing pneumatic software finger in sensor and
The problem of being restricted in terms of installation；A kind of software finger control system and control method are provided, can opponent's abutment power and
Bending curvature is detected, realizes the closed-loop control of opponent's abutment power, and application field is extensive.
The present invention provides a kind of pneumatic software finger, including：It is arranged at the drive part on upper strata and is arranged at the sense of lower floor
Know part, the drive part is provided with driving air cavity, and the sense part is arranged with perception air cavity, and the bottom surface of the perception part is glued
There is nylon adherent buckle.
In the pneumatic software finger of the present invention, the drive part and the perception part use shaped deposition technology one
Bodyization is manufactured.
The present invention also provides a kind of pneumatic software finger control system, except including above-mentioned pneumatic software finger, also wrapping
Include：
Baroceptor is driven, is connected with the driving air cavity for the driving air pressure for detecting driving air cavity in real time；
Baroceptor is perceived, the perception air pressure being connected with the perception air cavity for real-time detection senses air cavity；
Controller, with it is described driving baroceptor and perceive baroceptor be connected, by the driving air pressure of detection with
Perceive air pressure and upload to host computer；
Host computer, will perceive air pressure and is converted into curvature signal, and whether determine finger according to curvature signal and driving air pressure
Contact object；Air pressure will be perceived and be converted into contact force signal, control instruction is generated according to contact force signal and preset value；
Also include the air pump and magnetic valve being connected with the driving air cavity, controller receives control instruction and put by power
Big circuit is controlled to air pump and magnetic valve, and then adjusts the air pressure of the driving air cavity of finger, completes opponent's abutment power
Control.
In the pneumatic software finger control system of the present invention, the host computer includes：
For the actual measurement curvature conversion module for the actual measurement curvature that the perception air pressure is changed into finger；
Prediction curvature estimation module for calculating prediction curvature according to the driving air pressure detected in real time；
Judge whether finger touches the curvature determination module of article according to prediction curvature and actual measurement curvature；
Contact force conversion module for the perception air pressure to be changed into contact force；
For judging whether the contact force reaches the contact force determination module of preset value；
The pid control module of control instruction is generated according to contact force and preset value.
In the pneumatic software finger control system of the present invention, the actual measurement curvature conversion module calculates software according to following formula
The bending angle of finger, and according to the actual measurement curvature of bending angle calcu-lation software finger：
In formula, P1、V1Respectively perceive air cavity initial gas pressure and volume, P2To perceive air cavity air pressure after pressing, θ is finger
Angle is bent, b', d' and e' are respectively height, wall thickness and the width of perception air cavity after deformation, and l is perception air cavity length,
Wherein d' is represented by：
In formula, d0To perceive air cavity elemental height, R2To perceive the radius of curvature on air cavity base after bending.
In the pneumatic software finger control system of the present invention, the prediction curvature estimation module is driven according under idle condition
The relational expression of pressure of taking offence and digital flexion curvature calculates prediction curvature, and the relational expression is as follows：
P=a0+a1b+a2b2+a3b3
In formula, p is the driving air pressure detected in real time, and b is prediction curvature, a0、a1、a2、a3It is fit parameter values.
In the pneumatic software finger control system of the present invention, contact force conversion module calculates contact force according to following formula：
In formula, P1、V1Respectively perceive air cavity initial gas pressure and volume, P2To perceive air cavity air pressure after pressing, E is finger
The modulus of elasticity of material of main part, I is perceives the rotary inertia of layer cross section on air cavity, and e' is cavity width after deformation, and l is to perceive gas
Cavity length.
The present invention also provides a kind of pneumatic software finger control method, comprises the following steps：
The driving air pressure of detection driving air cavity and the perception air pressure for perceiving air cavity；
Driving air pressure and perception air pressure are uploaded to host computer and handled；
Air pressure will be perceived and be converted into curvature signal, and according to curvature signal and driving air pressure determine finger whether contactant
Body；Air pressure will be perceived and be converted into contact force signal, control instruction is generated according to contact force signal and preset value；
Controller is controlled after receiving control instruction by power amplification circuit to air pump and magnetic valve, and then adjusts hand
The air pressure of the driving air cavity of finger, completes the control of opponent's abutment power.
In the pneumatic software finger control method of the present invention, air pressure will be perceived and be converted into curvature signal, and according to curvature
Signal and driving air pressure determine whether finger contacts object, are specially：
The perception air pressure is changed into the actual measurement curvature of finger；
Prediction curvature is calculated according to the driving air pressure detected in real time；
Judge whether finger touches article according to prediction curvature and actual measurement curvature, if touching article goes to next step,
Otherwise driven by air pump and magnetic valve adjustment after the air pressure of air cavity, detection again drives air pressure and perceives air pressure.
In the pneumatic software finger control method of the present invention, air pressure will be perceived and be converted into contact force signal, according to contact
Force signal and preset value generation control instruction, be specially：
The perception air pressure is changed into contact force；
Judge whether the contact force reaches preset value；
According to contact force and preset value generation control instruction.
Pneumatic software finger, software finger control system and the control method of the present invention at least has the advantages that：
The software finger that the present invention is designed realize driving with perception it is highly integrated, control device of the invention only passes through detection senses
The air pressure of air cavity just can realize the measurement to finger bending curvature and contact force, compare tradition by bend sensor and contact force
The measurement apparatus of sensor, with the features such as simple in construction, cost is low, finger compliance is good.The control method of the present invention passes through
Detection senses air cavity air pressure, so as to be measured to finger bending curvature and contact force, realizes the closed loop control of opponent's abutment power
System, coordinates crawl to lay the foundation to complete many fingers.
Brief description of the drawings
Fig. 1 is pneumatic software finger structure schematic diagram of the invention；
Fig. 2 is the schematic diagram of pneumatic software finger control system of the invention；
Fig. 3 perceives air cavity flexural deformation schematic diagram for pneumatic software finger of the invention；
Fig. 4 perceives air cavity bottom stress diagram for pneumatic software finger of the invention；
Fig. 5 is the flow chart of pneumatic software finger control method of the invention.
Embodiment
As shown in figure 1, the invention discloses a kind of pneumatic software finger, including：It is arranged at the drive part 1 on upper strata and sets
The perception part 2 of lower floor is placed in, nylon adherent buckle 5 is stained with the bottom surface for perceiving part 2, so as to play the deformation of suppression bottom surface, increase
The effect of finger contact friction force.Drive part 1 perceives part 2 provided with perception air cavity 4 provided with driving air cavity 3.The present invention's is soft
The drive part 1 of body finger and perception part 2 are using the manufacture of shaped deposition technology integration.Finger has simple in construction, integrated
The features such as change degree is high, cost is low, compliance is good, it is to avoid in traditional aware scheme, installed in sensor arrangement and its is right
Restriction in terms of finger motion influence.
As shown in Fig. 2 the invention provides a kind of pneumatic software finger control system, including：Software finger 10, driving gas
Pressure sensor 20, perception baroceptor 30, controller 40, host computer 50, power amplification circuit 60, air pump 70 and magnetic valve
80。
Driving baroceptor 20, air pump 70 and magnetic valve 80 are connected with driving air cavity 3 respectively, drive air pressure sensing
Device 20 is used for the driving air pressure for detecting driving air cavity 3 in real time.Perceive baroceptor 30 and be connected with perceiving air cavity 4, for reality
When detection senses air cavity 4 perception air pressure.Controller 40, is connected with driving baroceptor 20 and perception baroceptor 30
Connect, the driving air pressure of detection and perception air pressure are uploaded into host computer 50.Host computer 50 is used to perception air pressure being converted into curvature
Signal, and determine whether software finger 10 touches object to be captured according to curvature signal and driving air pressure；Air pressure will be perceived again
Contact force signal is converted into, control instruction is generated according to contact force signal and preset value, and control instruction is exported to controller
40.Controller 10 is controlled after receiving control instruction by power amplification circuit 60 to air pump 70 and magnetic valve 80, and then is adjusted
The air pressure of the driving air cavity of software finger 10 is saved, the control to software finger contact force is completed.
Host computer 50 further comprises：Curvature conversion module is surveyed, curvature estimation module, curvature determination module is predicted, connects
Touch conversion module, contact force determination module and pid control module.Surveying curvature conversion module is used for the perception air pressure
The actual measurement curvature of finger is changed into, prediction curvature estimation module is used to calculate prediction curvature according to the driving air pressure detected in real time,
Curvature determination module judges whether finger touches article according to prediction curvature and actual measurement curvature, and contact force conversion module is used for will
Perceive air pressure and change into contact force, contact force determination module is used to judge whether contact force reaches preset value, pid control module root
According to contact force and preset value generation control instruction.The working condition of modules in host computer 50 is specifically described below.
If the initial internal air pressure for perceiving air cavity 4 is P1, initial volume is V1, by perceiving air pressure sensing after pressing
Device 30 can measure the perception air pressure inside of air cavity 4 and be changed into P2, then the volume V after its deformation is understood by equation for ideal gases2For：
Actual measurement curvature conversion module is used for the actual measurement curvature that perception air pressure is converted into finger.Measure the actual measurement curvature of finger
When need to obtain the relation of the internal pressure change of the Bending Deformation of finger with perceiving air cavity 4.If finger bends for iso-curvature, its is curved
State after song deformation is as shown in Figure 3.Wherein, R1To perceive the radius of curvature on the upper strata of air cavity 4, R2To perceive the song of the lower floor of air cavity 4
Rate radius, b' is perceives the wall thickness of air cavity 4, then the volume that air cavity 4 is perceived after deforming is：
E', d' are respectively the width and height that air cavity is perceived after flexural deformation in formula, and θ is digital flexion angle.By (1) formula
(2) formula of substitution then has：
Because the lower floor of the perception part 2 of finger is stained with velcro 5, so perceiving the length l of air cavity 4 not during bending
Become, now have：
L=θ (R2-b′) (4)
Drawn according to formula (3) and formula (4)：
Show that the angle of bend of software finger is by formula (5)：
During due to digital flexion, the axial length for perceiving air cavity 4 can be elongated, so that it can free receipts in thickness direction
Contracting.As shown in figure 3, axial elongation △ l are on through-thickness：
Δ l=l '-l=θ (R2+x)-l (7)
X is perception air cavity short transverse variable quantity in formula.
The axial strain ε of software finger is understood by formula (7)lFor：
The then strain stress of thickness directiondFor：
εd=-v εl (9)
Wherein v is the Poisson's ratio (table look-up and understand that silicon rubber Poisson's ratio is 0.499) of soft finger material.By thickness direction point
For d' deciles, then the thickness after every section of flexural deformation is changed into：
According to formula (10), it is integrated, drawn：
Therefore understand that the thickness of the perception air cavity 4 of soft finger after flexural deformation is：
Angle of bend θ can obtain according to formula (6) and formula (12).The angle of bend θ that above-mentioned calculating is obtained substitutes into following public affairs
Formula (13) understands that the radius of curvature of software finger is：
And then, the actual measurement curvature of software finger can be calculated by formula (13).
Predict that curvature estimation module is calculated according to driving air pressure under idle condition and the relational expression of digital flexion curvature
Curvature is predicted, the relational expression is obtained by the fitting of MATLAB softwares, and it is as follows that it is fitted form：
P=a0+a1b+a2b2+a3b3 (14)
Wherein, b is prediction curvature, and p is the driving atmospheric pressure value detected in real time, a0、a1、a2And a3It is fitting parameter
Value.The driving air pressure of detection is uploaded to host computer 50 by driving baroceptor 20 by controller 40, predicts curvature estimation mould
Prediction curvature b is calculated according to formula (14).
The actual measurement curvature and prediction curvature that curvature determination module calculates above-mentioned formula (13) and formula (14) are contrasted, and are sentenced
Whether finger of cutting off the hands touches article.If predicting that curvature is more than actual measurement curvature, then it represents that soft finger touches object, now remembers
The current actual measurement curvature of record, further judges contact force.Otherwise represent that finger does not touch object, controller 40 passes through air pump
70 and magnetic valve 80 adjustment driving air cavity 3 air pressure after, again detection driving air pressure and perceive air pressure.Converted by surveying curvature
Module, prediction curvature estimation module and curvature determination module determine that software finger is touched after object, are converted by contact force
Module calculates contact force.
If l, e0'、d0' it is respectively to perceive length, width and the height of air cavity 4 in an initial condition.E', d' are respectively
By the width and height of the perception air cavity after compressive strain.Due to relative altitude deflection, width deformation is smaller, therefore can approximately recognize
Width for perception air cavity 4 before and after pressing does not change, i.e. e' ≈ e0'.Perceive its length and width when the bottom of air cavity 4 is pressurized
Do not change, only highly free change, therefore need to obtain the amount of deflection change perceived produced by after the bottom of air cavity 4 is pressurized.Will sense
Know that the bottom of air cavity 4 is reduced to simply supported beam, then its stress is carried out analyzing as shown in Figure 4.FA, FB are respectively to perceive air cavity 4 in figure
Support force produced by the fixed pivot of two ends, F is contact force, and ql is to perceive in air cavity with respect to the even distributed force produced by pressure, q generations
The uniform force density of table, a, b are respectively distances of the application point C at a distance of fulcrum A and B.Square is taken to B points, then had：
X is perception air cavity length direction variable quantity in formula.
According to formula (15), the amount of deflection that can obtain AC sections and BC sections using mechanics of materials knowledge is respectively：
Wherein wACAnd wBCThe amount of deflection of AC sections and BC sections is represented respectively, and E is the modulus of elasticity of soft finger material, and I is perception
Air cavity bottom cross section rotary inertia.Because the shore hardness of selected materials is 2A, then understand that its elastic modulus E is：
Wherein HA is material shore hardness.Understand that rotary inertia I is：
Wherein e, d are the width and height under finger primary condition.The perception air cavity after deforming is understood according to formula (15)
Volume is：
If it is constant that air cavity length and width is perceived after being pressurized, then have：
Q=(P2-P1)e′ (20)
If a=0.5l, then can obtain contact force is：
Formula (1) is substituted into formula (21) to obtain：
To perceive in air pressure substitution formula (22) can calculate the contact force of software finger.
Contact force determination module is used to judge whether contact force reaches preset value.Stop if preset value is reached to driving
Air cavity is inflated；If contact force is less than up to preset value, computing and then life are carried out to contact force and preset value by pid control module
Into control instruction.And export control instruction to controller 40.Controller 40 generates pwm signal after receiving control instruction, passes through
Power amplification circuit 60 is controlled to air pump 70 and magnetic valve 80, and then the air pressure of the driving air cavity of regulation software finger 10,
Complete the control to software finger contact force.
The above-mentioned software finger control system for the present invention, based on the control system, present invention also offers a kind of software hand
Refer to control method, comprise the following steps：
First, the perception air pressure of the driving air pressure of detection driving air cavity and perception air cavity；Will driving air pressure and perception air pressure
Host computer is uploaded to be handled；
Then, air pressure will be perceived by host computer and is converted into curvature signal, and determined according to curvature signal and driving air pressure
Whether finger contacts object；Air pressure will be perceived and be converted into contact force signal, referred to according to contact force signal and preset value generation control
Order；
Finally, controller is controlled after receiving control instruction by power amplification circuit to air pump and magnetic valve, and then
The air pressure of the driving air cavity of finger is adjusted, the control of opponent's abutment power is completed.
Fig. 5 is the flow chart of software finger control method.As illustrated, first emptying drives air cavity before detection air cavity air pressure
Gas in 3, and close air pump 70 and magnetic valve 80.Then to driving air cavity and perception air cavity inflation, by driving air pressure transmission
Sensor 20 and the perception detection of baroceptor 30 driving air cavity 3 and the air pressure for perceiving air cavity 4.If driving air pressure reaches that maximum is filled
Gas atmospheric pressure value, then need the gas in emptying driving air cavity 3 to inflate again.If driving air pressure to be less than maximum inner gas pressure value,
Carry out curvature conversion.
As shown in figure 5, will perceive air pressure is converted into curvature signal, and determine that finger is according to curvature signal and driving air pressure
It is no contact object be specially：
Perception air pressure is changed into the actual measurement curvature of finger, i.e., actual measurement curvature is calculated according to formula (1) to formula (13), calculated
Journey is repeated no more here；
Prediction curvature is calculated according to the driving air pressure detected in real time, i.e., prediction curvature is calculated according to formula (14)；
Judge whether finger touches article according to prediction curvature and actual measurement curvature, if touching article goes to next step,
Otherwise driven by air pump and magnetic valve adjustment after the air pressure of air cavity, detection again drives air pressure and perceives air pressure.
As shown in figure 5, when software finger touches article, recording current actual measurement curvature.Further judge contact
Power size.Before contact force size is judged, the air pressure of each air cavity is detected again, if driving air pressure reaches maximum inner gas pressure
Value, then illustrate that the contact force of software finger has arrived at maximum, terminate process.If driving air pressure to be less than to maximum inflating air
Pressure value, then carry out contact force conversion.Air pressure will be perceived and be converted into contact force signal, controlled according to contact force signal and preset value generation
Making instruction body is specially：
Air pressure will be perceived and change into contact force, i.e., contact force is calculated according to formula (15) to formula (22), specific calculating process is not
Repeat again；
Judge whether contact force reaches preset value；If contact force reaches preset value, finishing control process, if contact
Power is less than preset value, then pid control module carries out computing to contact force and preset value and then generates control instruction.
Pid control module exports control instruction to controller 40.Controller 40 receives generation PWM letters after control instruction
Number, air pump 70 and magnetic valve 80 are controlled by power amplification circuit 60, and then adjust the driving air cavity of software finger 10
Air pressure, complete closed-loop control to software finger contact force.
The software finger that the present invention is designed realize driving with perception it is highly integrated, control device of the invention only passes through
The air pressure of detection senses air cavity just can realize the measurement to finger bending curvature and contact force, compare tradition by bend sensor
And the measuring method of contact force sensor, with the features such as simple in construction, cost is low, finger compliance is good.The control of the present invention
Method is by detection senses air cavity air pressure, so as to be measured to finger bending curvature and contact force, realizes opponent's abutment power
Closed-loop control, coordinate crawls to lay the foundation to complete many fingers.
Presently preferred embodiments of the present invention is the foregoing is only, the thought being not intended to limit the invention is all the present invention's
Within spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of pneumatic software finger, it is characterised in that including：It is arranged at the drive part on upper strata and is arranged at the perception of lower floor
Part, the drive part is arranged with perception air cavity provided with driving air cavity, the sense part, and the bottom surface of the perception part is stained with
Nylon adherent buckle.
2. pneumatic software finger as claimed in claim 1, it is characterised in that the drive part and the perception part are used
Shaped deposition technology integration is manufactured.
3. a kind of pneumatic software finger control system, it is characterised in that including the pneumatic software finger described in claim 1, also
Including：
Baroceptor is driven, is connected with the driving air cavity for the driving air pressure for detecting driving air cavity in real time；
Baroceptor is perceived, the perception air pressure being connected with the perception air cavity for real-time detection senses air cavity；
Controller, is connected with the driving baroceptor and perception baroceptor, by the driving air pressure of detection and perception
Air pressure uploads to host computer；
Host computer, will perceive air pressure and is converted into curvature signal, and determine whether finger contacts according to curvature signal and driving air pressure
Object；Air pressure will be perceived and be converted into contact force signal, control instruction is generated according to contact force signal and preset value；
Also include the air pump and magnetic valve being connected with the driving air cavity, controller receives control instruction and passes through power amplification electricity
Road is controlled to air pump and magnetic valve, and then adjusts the air pressure of the driving air cavity of finger, completes the control of opponent's abutment power.
4. pneumatic software finger control system as claimed in claim 3, it is characterised in that the host computer includes：
For the actual measurement curvature conversion module for the actual measurement curvature that the perception air pressure is changed into finger；
Prediction curvature estimation module for calculating prediction curvature according to the driving air pressure detected in real time；
Judge whether finger touches the curvature determination module of article according to prediction curvature and actual measurement curvature；
Contact force conversion module for the perception air pressure to be changed into contact force；
For judging whether the contact force reaches the contact force determination module of preset value；
The pid control module of control instruction is generated according to contact force and preset value.
5. pneumatic software finger control system as claimed in claim 4, it is characterised in that the actual measurement curvature conversion module root
The bending angle of software finger is calculated according to following formula, and according to the actual measurement curvature of bending angle calcu-lation software finger：
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In formula, P1、V1Respectively perceive air cavity initial gas pressure and volume, P2To perceive air cavity air pressure after pressing, θ is digital flexion
Angle, b', d' and e' are respectively height, wall thickness and the width of perception air cavity after deformation, and l is perception air cavity length, wherein
D' is represented by：
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In formula, d0To perceive air cavity elemental height, R2To perceive the radius of curvature on air cavity base after bending.
6. pneumatic software finger control system as claimed in claim 4, it is characterised in that the prediction curvature estimation module root
According to driving relational expression of the air pressure with digital flexion curvature to calculate prediction curvature under idle condition, the relational expression is such as
Under：
P=a0+a1b+a2b2+a3b3
In formula, p is the driving air pressure detected in real time, and b is prediction curvature, a0、a1、a2、a3It is fit parameter values.
7. pneumatic software finger control system as claimed in claim 4, it is characterised in that contact force conversion module is according to following formula
Calculate contact force：
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In formula, P1、V1Respectively perceive air cavity initial gas pressure and volume, P2To perceive air cavity air pressure after pressing, E is finger main body
The modulus of elasticity of material, I is perceives the rotary inertia of layer cross section on air cavity, and e' is cavity width after deformation, and l is long to perceive air cavity
Degree.
8. a kind of pneumatic software finger control method, it is characterised in that comprise the following steps：
The driving air pressure of detection driving air cavity and the perception air pressure for perceiving air cavity；
Driving air pressure and perception air pressure are uploaded to host computer and handled；
Air pressure will be perceived and be converted into curvature signal, and determine whether finger contacts object according to curvature signal and driving air pressure；Will
Perceive air pressure and be converted into contact force signal, control instruction is generated according to contact force signal and preset value；
Controller is controlled after receiving control instruction by power amplification circuit to air pump and magnetic valve, and then adjusts finger
The air pressure of air cavity is driven, the control of opponent's abutment power is completed.
9. pneumatic software finger control method as claimed in claim 8, it is characterised in that air pressure will be perceived and be converted into curvature letter
Number, and determine whether finger contacts object according to curvature signal and driving air pressure, it is specially：
The perception air pressure is changed into the actual measurement curvature of finger；
Prediction curvature is calculated according to the driving air pressure detected in real time；
Judge whether finger touches article according to prediction curvature and actual measurement curvature, if touching article goes to next step, otherwise
After air pressure by air pump and magnetic valve adjustment driving air cavity, detection again drives air pressure and perceives air pressure.
10. pneumatic software finger control method as claimed in claim 8, it is characterised in that air pressure will be perceived and be converted into contact
Force signal, generates control instruction body according to contact force signal and preset value, is specially：
The perception air pressure is changed into contact force；
Judge whether the contact force reaches preset value；
According to contact force and preset value generation control instruction.
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