CN108453766A - A kind of bionical dexterity of multi-joint is done evil through another person finger - Google Patents
A kind of bionical dexterity of multi-joint is done evil through another person finger Download PDFInfo
- Publication number
- CN108453766A CN108453766A CN201810189329.5A CN201810189329A CN108453766A CN 108453766 A CN108453766 A CN 108453766A CN 201810189329 A CN201810189329 A CN 201810189329A CN 108453766 A CN108453766 A CN 108453766A
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- China
- Prior art keywords
- finger
- phalanx
- pressure sensor
- air bag
- joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000001145 Finger Joint Anatomy 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 239000002965 rope Substances 0.000 claims description 17
- 210000000988 Bone and Bones Anatomy 0.000 claims description 4
- 230000001808 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 6
- 241000905957 Channa melasoma Species 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 210000002683 Foot Anatomy 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000001503 Joints Anatomy 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001360 synchronised 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
It does evil through another person finger the invention discloses a kind of bionical dexterity of multi-joint, it is far saved including finger, finger middle section, finger closely save and finger base, above-mentioned each finger-joint component is formed by connector and is flexibly connected, and the finger far saves, is equipped with pressure sensor on finger middle section and finger closely section；The present invention can adapt to the different shapes for being crawled object, improves the contact area between finger and object, increases the stability of crawl；The soft or hard degree of finger is controllable, when use can according to the soft or hard degree for the characteristic changing finger and object contact surface for being grabbed object, protection be crawled object it is without damage while improve the stability captured；The bending angle in each joint of finger can measure, measuring cell and finger integrated design, ensure that the demand for dexterous manipulation control of doing evil through another person；Force direction is clear, and it is accurate to measure；The torque spring that each joint of finger is equipped with provides joint torsion, and finger returns to original state freely when driving original paper (such as motor) being enable not work.
Description
Technical field
The present invention relates to machinery sensing bionic hands more particularly to a kind of bionical dexterity of multi-joint to do evil through another person finger.
Background technology
Do evil through another person is the important tool for assisting hand deformed man patient to complete crawl article, its hand of doing evil through another person of traditional paw form
Referring to and there was only one degree of freedom, the shape of irregularly shaped object cannot be used, contact surface when capturing object between finger and object is smaller,
Be unfavorable for object stablizes crawl, simultaneously because the contact area of finger and object is smaller, the chucking power of paw is concentrated mainly on
On smaller area, it be easy to cause damage/deformation of object, particularly disadvantageous soft, the frangible object in crawl.Traditional more passes
Section dexterity finger of doing evil through another person mostly uses connecting rod following structure, passes through three joint synchronous movement that a motor drives finger, finger
The movement in three joints is interrelated and there are fixed relationship, object of this finger structure in crawl given configuration (such as column)
The contact area for having larger between finger and object is enabled to when body, however for irregular object, this finger is still deposited
In defect, because needing to capture object in life to be all irregular mostly.Secondly, traditional finger of doing evil through another person lacks joint motions
The measurement of information is unfavorable for the dexterous manipulation done evil through another person control, because joint motions information mostly uses coding disk or potentiometer to survey
Amount, on the one hand due to needing the joint in finger to install coding disk or potentiometer, increases finger of doing evil through another person for doing evil through another person
Volume, on the other hand since coding disk is typically mounted on the end of rotation axis, needed between adjacent two fingers exist foot
Enough big gaps just can guarantee the flexible motion of finger, and otherwise two fingers adjacent in motion process can be because coding disk be deposited
And generate collision, hinder.In addition, finger of doing evil through another person at this stage be directly by load cell mounted on the surface of finger come into
The measurement of row object and finger contact forces, since the object being crawled is irregular mostly or there are corner angle, object and hands
Contact between finger is mostly also that point contact or line contact, this so that the force direction between object and sensor is uncertain, causes to survey
Amount is inaccurate.Therefore, develop that one kind can adapt to irregularly shaped object, each articulations digitorum manus movable information can measure, each finger joint and object
The measurable bionical dexterity of contact forces does evil through another person finger with important application value and actual urgency.
Invention content
Goal of the invention：Of the existing technology in order to solve the problems, such as, the object of the present invention is to provide one kind can adapt to not
Same object, each articulations digitorum manus movable information can measure, each finger joint and the measurable bionical dexterity of object contact forces are done evil through another person finger is
The dexterous manipulation control done evil through another person provides necessary joint motions information and force information, to improve the grasp stability done evil through another person.
Technical solution：A kind of bionical dexterity of multi-joint is done evil through another person finger, including finger far saves, finger middle section, finger closely save and
Finger base, above-mentioned each finger-joint component are formed by connector and are flexibly connected, and the finger far saves, finger middle section and finger
It is equipped with pressure sensor on nearly section.The finger far section include sequentially connected first distal phalanx, the second distal phalanx and
First air bag；The finger middle section includes sequentially connected first middle phalanx, the second middle phalanx and the second air bag；The hand
It includes sequentially connected first proximal phalanx, the second proximal phalanx and third air bag to refer to nearly section.It is set on first distal phalanx
There are first pressure sensor, the surface of second distal phalanx to be equipped with the first film pressure sensor, the first air bag is set to should
On the first film pressure sensor；First middle phalanx is equipped with second pressure sensor, second middle phalanx
Surface is equipped with the second diaphragm pressure sensor, and the second air bag is set on second diaphragm pressure sensor；Described first nearly section refers to
Bone is equipped with third pressure sensor, and the surface of second proximal phalanx is equipped with third diaphragm pressure sensor, third air bag
On the third diaphragm pressure sensor.
Further, first distal phalanx, the first middle phalanx, be respectively equipped with groove on the first proximal phalanx, use
It is built in each first respectively in the first pressure sensor of measurement joint angles, second pressure sensor, third pressure sensor
In the groove of phalanges, the surface of pressure sensor and the surface of phalanges flush.
Preferably, the connector is associated shaft and torque spring；Wherein, associated shaft includes the first associated shaft, the second pass
Shaft coupling and third associated shaft, torque spring include the first torque spring, the second torque spring and third torque spring；Described first
Distal phalanx, the first middle phalanx and the first torque spring pass through the first association axis connection, a torsion of the first torque spring
Arm is pressed in first pressure sensor, and another torque arm is pressed on the first middle phalanx；First middle phalanx, first are closely
Phalanges and the second torque spring are saved by the second association axis connection, a torque arm of the second torque spring is pressed in second pressure biography
On sensor, another torque arm is pressed on the first proximal phalanx；First proximal phalanx, finger base and third torsion bullet
Spring is associated with axis connection by third, and a torque arm of third torque spring is pressed on third pressure sensor, another torque arm
In finger base.
It is respectively equipped with steel wire in second distal phalanx, the second middle phalanx, the second proximal phalanx and finger base
Rope through-hole, steel wire rope sequentially pass through the second distal phalanx, the second middle phalanx, the second proximal phalanx and finger base, steel wire rope
One end be fixed on steel wire rope prick head on, the steel wire rope prick head be located on the second distal phalanx.
In addition, first air bag and the second air bag are connected by the first flexible gas-guide tube, the second air bag and third air bag
By the second flexible gas-guide tube connection, the nearly finger base one of third air bag is terminated with third flexibility gas-guide tube.
Advantageous effect
Compared with prior art, invention has following marked improvement：1, it can adapt to difference and be crawled object
Shape, improve the contact area between finger and object, increase the stability of crawl.2, the soft or hard degree of finger is controllable, makes
Used time can be crawled object not according to the soft or hard degree for the characteristic changing finger and object contact surface for being grabbed object in protection
The stability of crawl is improved while being damaged.3, the bending angle in each joint of finger can measure, measuring cell and finger one
Change design, ensure that the demand for dexterous manipulation control of doing evil through another person.4, force direction is clear, and it is accurate to measure.5, on each joint of finger
The torque spring being equipped with provides joint torsion, and finger is restored to initially freely when driving original paper (such as motor) being enable not work
State, while torque spring combines the measurement for realizing finger-joint bending angle with pressure sensor.
Description of the drawings
Fig. 1 is that a kind of bionical dexterity of multi-joint of the present invention is done evil through another person the assembly front view of finger；
Fig. 2 is that a kind of bionical dexterity of multi-joint of the present invention is done evil through another person the assembly vertical view of finger；
Fig. 3 is the A-A sectional views of assembly vertical view；
Fig. 4 be the present invention a kind of bionical dexterity of multi-joint do evil through another person finger the first phalanges (nearly section, middle section, remote section), the
One to third torque spring, first to third pressure sensor, the assembly stereogram of finger base；
Fig. 5 be the present invention a kind of bionical dexterity of multi-joint do evil through another person finger straight configuration when assembly overview；
Fig. 6 be the present invention a kind of bionical dexterity of multi-joint do evil through another person digital flexion state when assembly overview.
Specific implementation mode
Technical scheme of the present invention is described in further detail with reference to embodiment and attached drawing.
As shown in figures 1 to 6, a kind of bionical dexterity of multi-joint is done evil through another person finger, including：Finger far saves, finger middle section, finger are close
Section, the first torque spring 16, the second torque spring 17, third torque spring 18, the first associated shaft 19, the second associated shaft 20,
Three the 22, second flexible gas-guide tubes 23 of the 21, first flexible gas-guide tube of associated shaft, third flexibility gas-guide tube 24, steel wire rope 25 and steel wire
Rope pricks head 26；As shown in Figure 1, Figure 3, finger far section includes the first distal phalanx 1, the second distal phalanx 2, first pressure sensor
3, the first film pressure sensor 4, the first air bag 5, the first distal phalanx 1 are equipped with groove, and first pressure sensor 3 is located at the
In the groove of one distal phalanx 1, the second distal phalanx 2 is located on the first distal phalanx 1, and the first film pressure sensor 4 is located at
On second distal phalanx 2, the first air bag 5 is located on the first film pressure sensor 4；Similarly, finger middle section include first in save
Phalanges 6, the second middle phalanx 7, second pressure sensor 8, the second diaphragm pressure sensor 9, the second air bag 10 save in first and refer to
Bone 6 is equipped with groove, and second pressure sensor 8 is located in the groove of the first middle phalanx 6, and the second middle phalanx 7 is located at first
On middle phalanx 6, the second diaphragm pressure sensor 9 is located on the second middle phalanx 7, and the second air bag 10 is located at the second diaphragm pressure
On sensor 9；Finger closely section includes the first proximal phalanx 11, the second proximal phalanx 12, third pressure sensor 13, third film
Pressure sensor 14, third air bag 15, the first proximal phalanx 11 are equipped with groove, and second pressure sensor 8 is located at the first nearly section
In the groove of phalanges 11, the second proximal phalanx 12 is located on the first proximal phalanx 11, and third diaphragm pressure sensor 14 is located at
On two proximal phalanxs 12, third air bag 15 is located on third diaphragm pressure sensor 14.After each sensor is as groove, sensor
Surface flushed just with the surface of the first phalanges, as shown in A-A sectional views in Fig. 3.
Using flexible connection, specific connection type is as follows for the connection of each finger-joint：It is saved in first distal phalanx 1, first
Phalanges 6 and the first torque spring 16 are connected by the first associated shaft 19, and a torque arm of the first torque spring 16 is pressed in first
On pressure sensor 3, another torque arm of the first torque spring 16 is pressed on the first middle phalanx 6, the first middle phalanx 6,
One proximal phalanx 11 and the second torque spring 17 are connected by the second associated shaft 20, a torque arm pressure of the second torque spring 17
On second pressure sensor 8, another torque arm of the second torque spring 17 is pressed on the first proximal phalanx 11, and the first nearly section refers to
Bone 11, finger base 27 and third torque spring 18 are connected by third associated shaft 21, a torsion of third torque spring 18
Arm is pressed on third pressure sensor 13, and another torque arm of third torque spring 18 is in finger base 27, and described the
It is respectively equipped with steel wire rope through-hole, steel in two distal phalanxes 2, the second middle phalanx 7, the second proximal phalanx 12 and finger base 27
Cord 25 sequentially passes through the second distal phalanx 2, the second middle phalanx 7, the second proximal phalanx 12, finger base 27, steel wire rope 25
One end be fixed on steel wire rope and prick on head 26, steel wire rope is pricked head 26 and is located on the second distal phalanx 2, the described first flexible air guide
Pipe 22 connects the first air bag 5 and the second air bag 10, and the second flexible gas-guide tube 23 connects the second air bag 10 and third air bag 15, third
Flexible gas-guide tube 24 is connected with third air bag 15.
In use, the bending of finger is realized by pulling steel wire rope 25, by measuring first pressure sensor 3, second
The output of pressure sensor 8, third pressure sensor 13 can calculate separately the bending angle in each joint of finger, by measuring first
The output of diaphragm pressure sensor 4, the second diaphragm pressure sensor 9, third diaphragm pressure sensor 14 can respectively obtain finger
The contact force between object is respectively saved and be crawled, can change the soft of finger by inflating or being evacuated into third flexibility gas-guide tube 24
Hard degree realizes the flexible crawl to different objects to make finger can adapt to different objects.
To sum up, the present invention is equipped with air bag and diaphragm pressure sensor on each section of finger, by air inlet pipe to gas
Capsule is inflated/is evacuated, when use can according to the soft or hard degree for the characteristic changing finger and object contact surface for being grabbed object,
Protection be crawled object it is without damage while improve crawl stability；When capturing object, the pressure between object and finger
It is transmitted to diaphragm pressure sensor by air bag, what the direction of the power being transmitted on diaphragm pressure sensor was to determine, and object
There is larger contact area between finger, the accuracy measured is ensured with this.Secondly, the present invention draws three by steel cable
The movement of a articulations digitorum manus, after certain section phalanges is contacted with object in finger, there are contact forces to limit between object and the section phalanges
The movement of the section phalanges, and the phalanges that remaining is not contacted with object can then continue to move under the traction of steel wire rope, until with
Object is in contact, this enables each section phalanges of finger to be in contact as far as possible with object when capturing object, is expanded
The contact area of finger and object, improves the stability of crawl.
The finger of doing evil through another person of the present invention is equipped with the torque spring for providing joint torsion at articulations digitorum manus, makes driving original paper
Finger can return to original state freely when (such as motor) does not work, and secondly, the pressure sensor being equipped in finger joint can
To monitor the torsion of the output of torque spring, torque spring combines the survey for realizing finger-joint bending angle with pressure sensor
Amount, the movement angle information of the articulations digitorum manus obtained by ensure the dexterous demand controlled of doing evil through another person, the measuring cell of joint angles with this
It is built on finger, realizes and finger integrated design so that do evil through another person what upper two adjacent fingers were hindered there is no interference
Phenomenon.
Claims (5)
- The finger 1. a kind of bionical dexterity of multi-joint is done evil through another person, it is characterised in that：Far saved including finger, finger middle section, finger closely save and Finger base (27), above-mentioned each finger-joint component are formed by connector and are flexibly connected, the finger far saves, finger middle section and It is equipped with pressure sensor on finger closely section；The finger far section includes sequentially connected first distal phalanx (1), the second distal phalanx (2) and the first air bag (5)；Institute It includes sequentially connected first middle phalanx (6), the second middle phalanx (7) and the second air bag (10) to state finger middle section；The hand It includes sequentially connected first proximal phalanx (11), the second proximal phalanx (12) and third air bag (15) to refer to nearly section；First distal phalanx (1) is equipped with first pressure sensor (3), and the surface of second distal phalanx (2) is equipped with The first film pressure sensor (4), the first air bag (5) are set on the first film pressure sensor (4)；Section refers in described first Bone (6) is equipped with second pressure sensor (8), and the surface of second middle phalanx (7) is equipped with the second diaphragm pressure sensor (9), the second air bag (10) is set on second diaphragm pressure sensor (9)；First proximal phalanx (11) is equipped with third The surface of pressure sensor (13), second proximal phalanx (12) is equipped with third diaphragm pressure sensor (14), third air bag (15) it is set on the third diaphragm pressure sensor (14).
- The finger 2. the bionical dexterity of multi-joint according to claim 1 is done evil through another person, it is characterised in that：First distal phalanx (1), the first middle phalanx (6), the first proximal phalanx are respectively equipped with groove on (11), the first pressure for measuring joint angles Sensor (3), second pressure sensor (8), third pressure sensor (13) are built in respectively in the groove of each first phalanges, pressure The surface of force snesor and the surface of phalanges flush.
- The finger 3. the bionical dexterity of multi-joint according to claim 1 or 2 is done evil through another person, it is characterised in that：The connector is to close Shaft coupling and torque spring；Wherein, associated shaft includes the first associated shaft (19), the second associated shaft (20) and third associated shaft (21), Torque spring includes the first torque spring (16), the second torque spring (17) and third torque spring (18)；First distal phalanx (1), the first middle phalanx (6) and the first torque spring (16) pass through the first associated shaft (19) Connection, a torque arm of the first torque spring (16) are pressed in first pressure sensor (3), and another torque arm is pressed in first It saves on phalanges (6)；First middle phalanx (6), the first proximal phalanx (11) and the second torque spring (17) pass through the second associated shaft (20) it connects, a torque arm of the second torque spring (17) is pressed on second pressure sensor (8), and another article of torque arm is pressed in the On one proximal phalanx (11)；First proximal phalanx (11), finger base (27) and third torque spring (18) are connected by third associated shaft (21) It connects, a torque arm of third torque spring (18) is pressed on third pressure sensor (13), and another torque arm is embedded in finger base In seat (27).
- The finger 4. the bionical dexterity of multi-joint according to claim 1 is done evil through another person, it is characterised in that：Second distal phalanx (2), steel wire rope through-hole, steel wire are respectively equipped in the second middle phalanx (7), the second proximal phalanx (12) and finger base (27) Rope (25) sequentially passes through the second distal phalanx (2), the second middle phalanx (7), the second proximal phalanx (12) and finger base (27), One end of steel wire rope (25) is fixed on steel wire rope and pricks on head (26), which pricks head (26) and be located on the second distal phalanx (2).
- The finger 5. the bionical dexterity of multi-joint according to claim 1 is done evil through another person, it is characterised in that：First air bag (5) and Second air bag (10) is connected by the first flexible gas-guide tube (22), and the second air bag (10) and third air bag (15) pass through the second flexibility Gas-guide tube (23) connects, and the nearly finger base (27) one of third air bag (15) is terminated with third flexibility gas-guide tube (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810189329.5A CN108453766B (en) | 2018-03-08 | 2018-03-08 | Multi-joint bionic dexterous artificial finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810189329.5A CN108453766B (en) | 2018-03-08 | 2018-03-08 | Multi-joint bionic dexterous artificial finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108453766A true CN108453766A (en) | 2018-08-28 |
| CN108453766B CN108453766B (en) | 2021-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810189329.5A Active CN108453766B (en) | 2018-03-08 | 2018-03-08 | Multi-joint bionic dexterous artificial finger |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696024A (en) * | 2019-10-09 | 2020-01-17 | 苏州软体机器人科技有限公司 | Novel flexible finger |
| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
| CN112123361A (en) * | 2020-10-23 | 2020-12-25 | 四川大学 | Flexible finger and flexible manipulator |
| CN112223274A (en) * | 2020-08-28 | 2021-01-15 | 浙江理工大学 | Piezoelectric driving flexible hinge clamping device based on binocular ranging and control method |
| US11536621B2 (en) * | 2020-03-31 | 2022-12-27 | Toyota Research Institute, Inc. | Methods and systems for calibrating deformable sensors using camera |
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| CN106297474A (en) * | 2016-11-04 | 2017-01-04 | 天津市半边天科技股份有限公司 | A kind of virtual reality musical training system |
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| CN208100400U (en) * | 2018-03-08 | 2018-11-16 | 南京航空航天大学 | A kind of three joint finger mechanisms |
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| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696024A (en) * | 2019-10-09 | 2020-01-17 | 苏州软体机器人科技有限公司 | Novel flexible finger |
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| CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
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