CN112045694A - Soft finger for realizing sectional bending by using giant electrorheological fluid - Google Patents
Soft finger for realizing sectional bending by using giant electrorheological fluid Download PDFInfo
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- CN112045694A CN112045694A CN202010774693.5A CN202010774693A CN112045694A CN 112045694 A CN112045694 A CN 112045694A CN 202010774693 A CN202010774693 A CN 202010774693A CN 112045694 A CN112045694 A CN 112045694A
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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
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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
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Abstract
The invention belongs to the technical field of soft robots and discloses a soft finger for realizing sectional bending by using giant electrorheological fluid, which comprises a corrugated pipe, a constraint layer and a plurality of variable stiffness layers, wherein the corrugated pipe is provided with a first side surface, the constraint layer is arranged on the first side surface, and the variable stiffness layers are arranged on the constraint layer at intervals along the length direction of the corrugated pipe; the variable stiffness layer comprises an insulating cavity, a positive electrode plate, a negative electrode plate and a giant electrorheological fluid layer which are accommodated in the insulating cavity; huge electrorheological fluids layer fills in insulating cavity, changes the rigidity of huge electrorheological fluids layer through applying the electric field for huge electrorheological fluids layer, adjusts the rigidity on the variable rigidity layer that corresponds then, has realized the regulation of software finger rigidity. The invention realizes the rigidity change of each knuckle by controlling the on-off of the electric field applied to the variable rigidity layer of each knuckle of the soft finger, thereby realizing various different configurations of the finger and being suitable for various different application scenes.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a soft finger capable of realizing sectional bending by using giant electrorheological fluid.
Background
In recent years, the soft robot technology is rapidly developed along with material science, and is different from a robot which is composed of rigid parts in the traditional sense, a soft robot body is made of flexible materials, and the novel flexible robot can adapt to various unstructured environments, bears larger strain and is safer to interact with human beings. The soft robot overcomes the problems of poor flexibility, unsafe human-computer interaction and the like of the traditional robot, has a plurality of applications in the fields of medical robots, wearable robots, complex environment search and the like, and has a very optimistic development prospect.
For the soft hand of the end effector of the robot, the flexibility and the flexibility are important bases for measuring the performance of the robot gripper. Conventional rigid robots, although accurate to control, are not suitable for gripping delicate or soft objects like eggs, fruit, etc. due to their poor flexibility. The existing soft robot hand usually adopts a flexible material to reduce the rigidity so as to achieve the purpose of flexible grabbing, but the soft robot hand has the problems of vibration, small grabbing granularity, instability and the like when grabbing an object. Moreover, the current soft fingers can only realize bending with constant curvature, so that the working form of the soft hand is single and the soft hand cannot be well adapted to various changeable application scenes. Therefore, the multi-knuckle segmented rigidity-variable soft finger can ensure the stability when grabbing an object, can realize various different configurations of the soft finger to adapt to various application scenes, and has strong practical value and important research significance.
Patent CN109834721A discloses a multi-knuckle rigidity-variable soft finger, which is driven by tendon rope, and the inside of the knuckle is put with laminated copy paper, and the knuckle is pumped by negative pressure device through air duct to reduce its internal pressure. Thus, the soft matrix of knuckles becomes "integral" with the laminated copy paper and "hard"; when the air path is cut off, the soft base body is separated from the laminated copy paper to become soft, and the effect of changing the rigidity of the soft finger is realized. However, the soft hand driven by the tendon rope needs harder materials and has no obvious effect on flexibly grabbing objects. Moreover, the tendon rope drive also needs a set of wire pulling device for auxiliary work, and the wire pulling device has a complex structure and needs a corresponding control system. Moreover, after the copy paper in the knuckle is bent for many times, the rigidity of the knuckle is reduced, so that the service life of the soft finger adopting the rigidity changing method is not long. For another example, patent CN108858269A discloses a variable stiffness three-finger soft robot. The soft finger is driven in a pneumatic mode, artificial scales which are sequentially distributed in a stacked mode are arranged in the rigidity-variable layer, and the soft finger can be pressed tightly under the negative pressure condition to generate the effect of turning from soft to rigid. However, the rigidity-variable layer of the soft finger contains rigid materials such as artificial scales, the integral rigidity of the soft hand is increased, flexible grabbing cannot be effectively achieved, and the rigid materials are extruded and deformed when the soft hand grabs an object, so that the silica gel materials are easily scratched, and the soft hand is damaged. The patent CN109605417A discloses a multi-configuration soft hand grip, which realizes the rigidity change of the soft hand through electro-rheological fluid or magneto-rheological fluid; however, the soft gripper only has one knuckle and can only realize the constant curvature bending of the soft finger, and the practical scenes are limited due to the single working form of the soft gripper.
Therefore, the existing variable-rigidity soft fingers have the problems of unobvious flexibility effect, small rigidity adjusting range, small grabbing range, single working form, short service life and the like when grabbing objects more or less.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides the soft finger for realizing the sectional bending by using the giant electrorheological fluid, and the soft finger adopts the giant electrorheological fluid to realize the adjustment of the sectional variable stiffness of the soft body so as to solve the problems of poor adaptability and the like caused by complicated structure, small grabbing range, single working configuration and the like of the conventional pneumatic soft hand.
To achieve the above object, according to one aspect of the present invention, there is provided a soft finger for implementing a segmented bending using a giant electrorheological fluid, the soft finger including a bellows, a constraint layer, and a plurality of variable stiffness layers, the bellows forming a first side, the constraint layer being disposed on the first side, the plurality of variable stiffness layers being disposed on the constraint layer at intervals along a length direction of the bellows;
the variable stiffness layer comprises an insulating cavity, a positive electrode plate, a negative electrode plate and a giant electrorheological fluid layer, wherein the positive electrode plate, the negative electrode plate and the giant electrorheological fluid layer are accommodated in the insulating cavity; the insulating cavity body comprises a body and a cover plate, the body is provided with a groove, and the cover plate is arranged on the body and covers an opening of the groove; the positive electrode plate and the negative electrode plate are respectively arranged on the cover plate and the bottom surface of the groove, the huge electrorheological fluid layer is filled in the groove, the rigidity of the corresponding huge electrorheological fluid layer is changed by applying an electric field to the huge electrorheological fluid layer, and then the rigidity of the corresponding variable rigidity layer is adjusted, so that the adjustment of the rigidity of the soft finger is realized.
Furthermore, the soft finger also comprises an air duct and a plurality of leads, and the air duct is arranged at one end of the corrugated pipe; and one ends of the positive electrode plate and the negative electrode plate, which face the air guide tube, are respectively connected with a lead, and the leads are respectively bonded on the positive electrode plate and the negative electrode plate through conductive gel.
Furthermore, the insulating cavity body is made of polyurethane rubber or vulcanized silica gel.
Furthermore, a plurality of rectangular bulges arranged at intervals are formed on one side of the corrugated pipe, which is far away from the first side surface, and the rectangular bulges are provided with accommodating cavities; the corrugated pipe is also provided with a flow passage communicated with the accommodating cavity; and one end of the corrugated pipe is also provided with a flow guide hole, and the flow guide hole is communicated with the air guide pipe and the flow channel.
Furthermore, the accommodating cavity is arranged along the length direction of the rectangular protrusion; the flow channel is arranged along the length direction of the corrugated pipe and is adjacent to the first side face.
Further, the wall thickness of the accommodating cavity towards the restraint layer is smaller than the wall thickness of the accommodating cavity away from the restraint layer.
Further, the material of the corrugated pipe is rubber or silica gel.
Further, the material of the restraint layer is fiber or metal.
Further, during operation, the wire is connected with relay and high voltage power supply in proper order, the air duct is connected with solenoid valve and air pump in proper order, the air pump, the solenoid valve reaches the relay is connected respectively in the control panel, the control panel is used for controlling the air pump, the solenoid valve reaches the relay, so that predetermined bending is realized to the software finger.
In general, compared with the prior art, the soft finger which realizes the sectional bending by using the giant electrorheological fluid has the following beneficial effects:
1. the giant electrorheological fluid layer of the variable stiffness layer is filled in the groove, so that the stiffness of each knuckle is changed by controlling the on-off of an external electric field of the variable stiffness layer of each knuckle of the soft finger, and further, various different configurations of the finger are realized, so that the finger is suitable for various different application scenes; the rigidity change of each knuckle on the finger is controlled to realize the sectional bending of the soft finger, so that the soft hand has a larger grabbing range; when the object with different shapes is grabbed, the contact area with the object in a larger range can be realized by selecting the proper finger configuration.
2. The giant electrorheological fluid material is used for realizing the obvious change of the rigidity of the soft finger so as to ensure the strength and the stability when the object is finally grabbed; when an electric field with a certain electric field intensity is applied to the giant electrorheological fluid, the giant electrorheological fluid becomes a solid state due to the form of the giant electrorheological fluid, and the rigidity is increased along with the increase of the electric field intensity, so that the effect of changing the rigidity of the soft finger is realized.
3. The material of the insulating cavity body is polyurethane glue or vulcanized silica gel, so the main part that the software pointed adopts elasticity software material, can realize the gentle and agreeable gripping to the object well.
4. The wall thickness of the containing cavity towards the restraint layer is smaller than that of the containing cavity far away from the restraint layer, so that the expansion deformation of the corrugated pipe in the radial direction is limited, and the expansion deformation of the corrugated pipe is concentrated on the tensile deformation in the length direction as much as possible.
5. The material of the restraint layer is selected from fibers or metal materials, so that the restraint layer is not extensible, expansion and stretching deformation of one side of the soft finger in the length direction is limited, and the effect of bending the soft finger is achieved by matching the expansion and stretching deformation of the corrugated pipe and mutual extrusion between the containing cavities.
Drawings
FIG. 1 is a schematic perspective view of a soft finger with segmented bending using giant electrorheological fluid according to the present invention;
FIG. 2 is an exploded view of the variable stiffness layer of the soft finger of FIG. 1 utilizing a giant electrorheological fluid to achieve segmented bending;
FIG. 3 is a schematic view of the inside of the bellows of the soft finger of FIG. 1 with a giant electrorheological fluid to achieve a segmented bend;
FIG. 4 is a schematic view of the bellows of FIG. 3 in an operational state;
FIGS. 5 (a), (b), (c), (d), (e), (f), (g) and (h) are schematic diagrams of the soft finger of FIG. 1 using giant electrorheological fluid to achieve segmented bending, respectively;
FIG. 6 is a schematic diagram of the control of the soft finger of FIG. 1 using giant electrorheological fluid to achieve segmented bending;
fig. 7 (a) and (b), fig. 8 (a) and (b), fig. 9 (a) and (b), and fig. 10 (a) and (b) are graphs comparing the effects of the giant electrorheological fluid-based soft finger of fig. 1 when the soft finger is gripping different objects.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-a first rigidity layer, 1-1-an insulating cavity, 1-2-positive and negative electrode plates, 1-3-a giant electrorheological fluid layer, 2-a second rigidity layer, 3-a third rigidity layer, 4-a constraint layer, 5-a corrugated pipe, 6-a lead and 7-an air guide pipe.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the soft finger for implementing segmented bending by using giant electrorheological fluid according to the present invention includes a bellows 5, an air duct 7, a plurality of wires 6, a constraint layer 4 and a plurality of variable stiffness layers, wherein the air duct 7 is disposed at one end of the bellows 5. The bellows 5 is formed with a first side surface, which is rectangular. The restraint layer 4 is arranged on the first side face of the corrugated pipe 5, the length direction of the restraint layer 4 is parallel to the length direction of the corrugated pipe 5, and the restraint layer 4 covers the first side face of the corrugated pipe 5. In the present embodiment, the shape and size of the constraining layer 4 correspond to the shape and size of the first side surface, respectively. The variable stiffness layers have the same structure, and are arranged on the constraint layer at intervals. And one end of each variable stiffness layer facing the air duct 7 is respectively provided with two conducting wires 6. Referring to fig. 6, when the air-assisted switch works, the lead 6 is connected with a relay and a high-voltage power supply, the air duct 7 is connected with an electromagnetic valve and an air pump, the electromagnetic valve and the relay are respectively connected with a control panel, the control panel is connected with a computer, and the computer can be replaced by other microprocessors; firstly, electrifying the second variable stiffness layer 2 of the knuckle which needs not to be bent to increase the stiffness of the second variable stiffness layer, and then controlling an electromagnetic valve and an air pump to adjust the air pressure in the corrugated pipe 5 to realize the desired finger configuration; after the working form of the soft finger is adjusted, the air valve and the air pump are closed, and then the remaining first variable stiffness layer 1 and the remaining third variable stiffness layer 3 are electrified, so that the overall stiffness of the soft finger is increased, and the grabbing strength and stability of the soft finger during working are ensured.
The variable stiffness layer comprises an insulating cavity 1-1, positive and negative electrode plates 1-2 and a giant electrorheological fluid layer 1-3, and the positive and negative electrode plates 1-2 comprise positive electrode plates and negative electrode plates; the insulating cavity body 1-1 comprises a body and a cover plate, the body is provided with a groove, and the positive electrode plate, the giant electrorheological fluid layer 1-3 and the negative electrode plate are all accommodated in the groove. The cover plate is arranged on the body and covers the opening of the groove so as to seal the positive electrode plate, the giant electrorheological fluid layers 1-3 and the negative electrode plate in the groove.
One ends of the positive electrode plate and the negative electrode plate, which face the air duct 7, are respectively connected with a lead 6, and the leads 6 are respectively bonded on the positive electrode plate and the negative electrode plate through conductive gel.
The insulating cavity 1-1 can be made of soft materials which do not react with giant electrorheological fluid, such as polyurethane glue or vulcanized silica gel; the manufacturing of the variable-stiffness layer can adopt an injection molding method to respectively manufacture the cover plate and the body, then respectively attach a positive electrode plate and a negative electrode plate in the cover plate and the groove, respectively adhere a lead 6 on the positive electrode plate and the negative electrode plate by adopting conductive gel, and then adhere the cover plate and the body together by adopting the adhesiveness of the same material; and finally, giant electrorheological fluid is injected into the groove and seals the injection port, and when an electric field with certain electric field intensity is applied to the giant electrorheological fluid, the giant electrorheological fluid becomes solid due to the form of the giant electrorheological fluid, and the rigidity is increased along with the increase of the electric field intensity, so that the rigidity changing effect of the soft finger is realized.
One side of the corrugated pipe 5 departing from the first side face is provided with a plurality of rectangular bulges arranged at intervals, the rectangular bulges are provided with accommodating cavities, and the accommodating cavities are arranged along the length direction of the rectangular bulges. The corrugated pipe 5 is further provided with a flow passage communicated with the accommodating cavity, and the flow passage is arranged along the length direction of the corrugated pipe 5 and is adjacent to the first side face. One end of the corrugated pipe 5 is also provided with a flow guide hole, and the flow guide hole is communicated with the air guide pipe 7 and the flow channel.
The wall thickness of the receiving cavity towards the constraining layer 4 is smaller than the wall thickness of the receiving cavity away from the constraining layer 4, thereby limiting the expansion deformation of the corrugated pipe 5 in the radial direction, and enabling the expansion deformation of the corrugated pipe 5 to be concentrated on the tensile deformation in the length direction as much as possible. Wherein, as shown in fig. 3, gas enters into the cavity of the bellows 5 in the direction of the arrow, so that the whole bellows 5 expands outward.
In the present embodiment, the material of the bellows 5 may be selected from materials with a large elastic modulus, such as rubber and silica gel; the bellows 5 can also be made in general by injection moulding, the required mould being obtained by 3D printing.
The material of the constraint layer 4 can be selected from fiber materials or metal materials, so that the constraint layer 4 is not extensible, and the expansion and stretching deformation of one side of the soft finger in the length direction is further limited, and the effect of bending the soft finger is achieved by matching the expansion and stretching deformation of the corrugated pipe 5 and the mutual extrusion between the containing cavities.
In this embodiment, the number of the variable stiffness layers is three, the three variable stiffness layers are respectively a first variable stiffness layer 1, a second variable stiffness layer 2 and a third variable stiffness layer 3, and the third variable stiffness layer 3, the second variable stiffness layer 2 and the first variable stiffness layer 1 are arranged at intervals from one end of the corrugated pipe 5 connected to the air duct 7 to the other end. Gaps of 1 mm-2 mm are reserved among the first variable stiffness layer 1, the second variable stiffness layer 2 and the third variable stiffness layer 3 and between the variable stiffness layer and the left edge, the right edge and the lower edge of the constraint layer 4 for wiring. Two leads 6 led out from the first variable stiffness layer 1 are respectively led to two sides of the second variable stiffness layer 2 according to the positive and negative poles; two leads 6 led out from the second variable stiffness layer 2 are respectively led to two sides of the third variable stiffness layer 3 according to the positive and negative poles, the leads reach one end of the corrugated pipe 5 provided with the air duct 7, and the leads 6 are fixed with the variable stiffness layer passing through in a gluing mode after being led out; the constraint layer 4 and the corrugated pipe 5 are connected in a gluing mode.
The configuration in fig. 5 is only schematic to illustrate the different forms of the finger, and no specific irrelevant details such as the expansion of the bellows are shown, and since the bending conditions at the joints of the knuckles depend on the air pressure and the stiffness of the knuckles, the bending angles at the joints are only schematic. The soft finger in this embodiment has three knuckles, so it can achieve eight different configurations as shown in fig. 5. The method specifically comprises the following steps: if the three knuckles are electrified before being inflated to change the giant electrorheological fluid into a solid state and further increase the rigidity of the knuckles, the knuckles will bend after the bellows 5 is inflated, and the joints of the knuckles will bend due to mutual deformation caused by the expansion of the accommodation cavities, so that the soft fingers take the shape as shown in (a) of fig. 5; if the knuckles 3 are energized before the gas is filled, so that the giant electrorheological fluid becomes solid and the stiffness of the knuckles becomes large, the knuckles 1 and 2 will bend after the bellows 5 is filled with gas, and the soft finger will take the shape as shown in fig. 5 (c). Therefore, before the bellows 5 is filled with gas, the rigidity of the knuckles is controlled by controlling the on-off of the electric fields of different knuckles, and various configuration changes of the final soft finger are realized. The specific conditions of the electrification of each variable stiffness layer and the corresponding conditions of the shapes of the soft fingers are shown in table 1, and the realization mode principles of other configurations are similar to those described above.
Referring to fig. 7, 8, 9 and 10, fig. 7 (a) shows a suitable scene of the soft finger form (b) in fig. 5, which shows that the finger bending in segments can be made shorter, thereby saving more material, and can lift the object to move more reliably than just grabbing the object by friction. Fig. 8 (a) shows an applicable scene diagram of the soft finger form (g) in fig. 5, and it can be clearly found through comparison that the finger bent in sections in the scene can lift the object to move, and only the finger bent in a normal curvature can touch the sharp edge of the object, so that the force is not good, and the sharp edge is easy to scratch the silica gel material to cause the soft hand damage. Fig. 9 (a) shows an application scene diagram of the soft finger form (e) in fig. 5, and fig. 10 (a) shows an application scene diagram of the soft finger form (g) in fig. 5, in both cases, the soft finger capable of changing stiffness in sections can achieve effective grabbing of the object.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A soft finger for realizing sectional bending by using giant electrorheological fluid is characterized in that:
the soft finger comprises a corrugated pipe, a constraint layer and a plurality of variable stiffness layers, wherein the corrugated pipe is provided with a first side surface, the constraint layer is arranged on the first side surface, and the variable stiffness layers are arranged on the constraint layer at intervals along the length direction of the corrugated pipe;
the variable stiffness layer comprises an insulating cavity, a positive electrode plate, a negative electrode plate and a giant electrorheological fluid layer, wherein the positive electrode plate, the negative electrode plate and the giant electrorheological fluid layer are accommodated in the insulating cavity; the insulating cavity body comprises a body and a cover plate, the body is provided with a groove, and the cover plate is arranged on the body and covers an opening of the groove; the positive electrode plate and the negative electrode plate are respectively arranged on the cover plate and the bottom surface of the groove, the huge electrorheological fluid layer is filled in the groove, the rigidity of the corresponding huge electrorheological fluid layer is changed by applying an electric field to the huge electrorheological fluid layer, then the rigidity of the corresponding variable rigidity layer is adjusted, and then the segmented bending of the soft finger is realized.
2. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 1, wherein: the soft finger also comprises an air duct and a plurality of leads, and the air duct is arranged at one end of the corrugated pipe; and one ends of the positive electrode plate and the negative electrode plate, which face the air guide tube, are respectively connected with a lead, and the leads are respectively bonded on the positive electrode plate and the negative electrode plate through conductive gel.
3. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 2, wherein: the insulating cavity body is made of polyurethane glue or vulcanized silica gel.
4. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 2, wherein: a plurality of rectangular bulges arranged at intervals are formed on one side of the corrugated pipe, which is far away from the first side surface, and the rectangular bulges are provided with accommodating cavities; the corrugated pipe is also provided with a flow passage communicated with the accommodating cavity; and one end of the corrugated pipe is also provided with a flow guide hole, and the flow guide hole is communicated with the air guide pipe and the flow channel.
5. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 4, wherein: the accommodating cavity is arranged along the length direction of the rectangular bulge; the flow channel is arranged along the length direction of the corrugated pipe and is adjacent to the first side face.
6. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 4, wherein: the wall thickness of the accommodating cavity facing the constraint layer is smaller than the wall thickness of the accommodating cavity far away from the constraint layer.
7. The soft finger for realizing segmental bending by using giant electrorheological fluid according to any one of claims 1 to 6, wherein: the corrugated pipe is made of rubber or silica gel.
8. The soft finger for realizing segmental bending by using giant electrorheological fluid according to any one of claims 1 to 6, wherein: the material of the restraint layer is fiber or metal.
9. The soft finger for realizing segmental bending by using giant electrorheological fluid according to claim 2, wherein: during operation, the wire is connected with relay and high voltage power supply in proper order, the air duct is connected with solenoid valve and air pump in proper order, the air pump the solenoid valve reaches the relay is connected respectively in the control panel, the control panel is used for controlling the air pump the solenoid valve reaches the relay, so that predetermined bending is realized to the software finger.
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| CN112828864A (en) * | 2020-12-31 | 2021-05-25 | 浙江清华柔性电子技术研究院 | Soft robot driver and mold |
| CN112873251A (en) * | 2021-01-12 | 2021-06-01 | 华中科技大学 | Soft finger for realizing sectional bending by using soft valve array |
| CN112914957A (en) * | 2021-03-24 | 2021-06-08 | 合肥工业大学 | Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function |
| CN113500615A (en) * | 2021-07-15 | 2021-10-15 | 清华大学 | Robot fingertip device and robot finger with same |
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| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
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