CN114434471A - Rigid-flexible bionic hand and bionic robot - Google Patents
Rigid-flexible bionic hand and bionic robot Download PDFInfo
- Publication number
- CN114434471A CN114434471A CN202210108081.1A CN202210108081A CN114434471A CN 114434471 A CN114434471 A CN 114434471A CN 202210108081 A CN202210108081 A CN 202210108081A CN 114434471 A CN114434471 A CN 114434471A
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- knuckle
- palm
- corrugated pipe
- rotating shaft
- finger
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention belongs to the technical field of mechanical arms, and relates to a rigid-flexible bionic hand and a bionic robot. A rigid-flexible bionic hand comprises a first palm and a second palm, wherein the first palm and the second palm are connected through a rotating connecting part to form a rotating pair, and a thumb and the first palm are connected through the rotating connecting part to form a rotating pair; and the first palm and the second palm are respectively connected with at least one finger structure. The invention provides a rigid-flexible bionic hand, which solves the problems of insufficient bionic property, less freedom, low grasping action flexibility, poor adaptability and insufficient interaction safety existing in the conventional manipulator.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and relates to a rigid-flexible bionic hand and a bionic robot.
Background
The manipulator has been widely used in human society's life and production, however, traditional mechanical clamping jaw is held the mode singlely, adaptability is poor, is difficult to accomplish complicated diversified tasks such as fragile article of snatching the shape complicacy, thunder and explosion elimination, treatment wounded, the care of infectious disease patient. The bionic hand has the bionic characteristic, and compared with the traditional manipulator, the bionic hand greatly improves the flexibility and the adaptability, can better meet the requirement of fine operation, and becomes a research hotspot of scholars at home and abroad.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a rigid-flexible bionic hand, which solves the problems of insufficient bionic property, low degree of freedom, low grabbing flexibility, poor adaptability and insufficient interaction safety in the existing manipulator.
The technical scheme for solving the problems is as follows:
a rigid-flexible bionic hand is characterized in that: the device comprises a first palm and a second palm, wherein the first palm and the second palm are connected through a palm rotating connection part to form a revolute pair, and a thumb and the first palm are connected through a thumb rotating connection part to form a revolute pair;
and the first palm and the second palm are respectively connected with at least one finger structure.
Further, the first palm and the second palm are respectively provided with a palm center side and a back side; the palm rotating connection part comprises a rotating shaft, a corrugated pipe and two tension springs, the palm I and the palm II are hinged through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the palm I and the palm II through fixing parts, the two tension springs are located on two sides of the corrugated pipe, and two ends of the two tension springs are respectively fixed on the back sides of the palm I and the palm II; the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe.
Furthermore, the thumb rotating connection part comprises a rotating shaft, a corrugated pipe and two tension springs, the thumb is hinged with the first palm through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the thumb and the first palm through fixing parts, the two tension springs are located on two sides of the corrugated pipe, and two ends of the two tension springs are respectively fixed on the thumb and the back side of the first palm; the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe.
Further, the thumb comprises a connecting knuckle, a first knuckle and a second knuckle;
the connecting knuckle is used for being connected with the corrugated pipe and the two tension springs of the rotating connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with corrugated pipes, two ends of each corrugated pipe are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of each corrugated pipe are sealed, and air pipes are connected to the two ends of each corrugated pipe.
Furthermore, bosses are arranged on the first palm and the second palm, and the first palm and the second palm are connected with the finger structures through the bosses.
Furthermore, the first palm is connected with two finger structures which are respectively an index finger and a middle finger; the structure of the index finger is the same as that of the middle finger, the index finger comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the first palm through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe is arranged between the first knuckle and the first palm, and two ends of the corrugated pipe are respectively connected with the first knuckle and the first palm through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are connected with the first knuckle and the second knuckle through fixing pieces respectively; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes.
Furthermore, the second palm is connected with two finger structures which are ring fingers and little fingers respectively; the ring finger and the little finger have the same structure, the ring finger comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the second palm through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second palm, and two ends of the corrugated pipe are respectively connected with the first knuckle and the second palm through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are respectively connected with the first knuckle and the second knuckle through fixing pieces; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes.
Furthermore, the device also comprises a base, and the first palm is fixed on the base through a bolt.
In addition, the invention also provides a bionic robot, which is characterized in that:
comprises a plurality of the rigid-flexible bionic hands.
Further, the number of the rigid-flexible bionic hands is two.
Compared with the prior art, the rigid-flexible bionic hand has the remarkable advantages that:
the rigid-flexible bionic hand provided by the invention has the advantages of both a rigid bionic hand and a flexible bionic hand, has better flexibility and adaptability, simultaneously has enough rigidity, and has larger output force than a pure flexible bionic hand; the bionic hand has a plurality of degrees of freedom, and each degree of freedom can be independently controlled, so that the bionic hand has more dexterity; the palm degree of freedom and the palm degree of freedom are set, so that the two fingertips of the thumb and the little finger at the maximum bending angle can be contacted, the actions such as grasping, pinching and the like can be easily finished, and the capability of the bionic hand for finishing complex tasks is further improved; simple structure can adjust finger quantity in a flexible way according to practical application demand simultaneously, and scalability is good.
Drawings
FIG. 1 is a front view of a stiff and flexible bionic hand according to the present invention;
FIG. 2 is a rear view of a rigid-flexible bionic hand as proposed by the present invention;
FIG. 3 is an oblique view of a rigid-flexible bionic hand proposed by the present invention;
FIG. 4 is a front view of the rigid-flexible bionic hand grip of the present invention during operation;
FIG. 5 is a schematic view of an angle of the rigid-flexible bionic hand grip of the present invention;
FIG. 6 is a schematic view of another angle for the rigid-flexible biomimetic hand grasping work proposed in the present invention;
FIG. 7 is a schematic view of the palm portion of a rigid-flexible bionic hand proposed by the present invention;
fig. 8 is a schematic structural diagram of the rigid-flexible bionic hand thumb connecting mechanism provided by the invention during operation.
In the figure, 1, a middle finger, 2, a ring finger, 3, a little finger, 4, a second palm, 5, a second tension spring, 6, a palm rotating connecting part, 7, a base, 8, a thumb rotating connecting part, 9, a first tension spring, 10, a first palm, 11, a thumb, 12 and an index finger.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1 to 8, the invention provides a rigid-flexible bionic hand, which comprises a first palm 10 and a second palm 4, wherein the first palm 10 and the second palm 4 are connected through a first palm rotating connection part 6 to form a revolute pair, and a thumb 11 and the first palm 10 are connected through a thumb rotating connection part 8 to form a revolute pair;
and at least one finger structure is connected to each of the first palm 10 and the second palm 4.
In some embodiments provided herein, the first palm 10 and the second palm 4 have a palm side and a back side, respectively; the palm rotating connection part 6 comprises a rotating shaft, a corrugated pipe and two first tension springs 5, the palm I10 and the palm II 4 are hinged through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the palm I10 and the palm II 4 through fixing parts, the two first tension springs 5 are located on two sides of the corrugated pipe, and two ends of the two first tension springs 5 are respectively fixed on the back sides of the palm I10 and the palm II 4; the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe. The air pipe is used for inflating or exhausting the corrugated pipe to enable the corrugated pipe to extend and shorten. The two tension springs I5 are used for providing tension to enable the palm I10 and the palm II 4 to reset.
In some embodiments provided by the invention, the thumb rotation connecting part 8 comprises a rotating shaft, a corrugated pipe and two second tension springs 9, the thumb 11 is hinged with the first palm 10 through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the thumb 11 and the first palm 10 through fixing parts, the two second tension springs 9 are positioned at two sides of the corrugated pipe, and two ends of the two second tension springs 9 are respectively fixed on the thumb 11 and the back side of the first palm 10; the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe. The air pipe is used for inflating or exhausting the corrugated pipe to enable the corrugated pipe to extend and shorten. The two second tension springs 9 are used for providing tension to enable the thumb 11 to reset.
In some embodiments provided herein, the thumb 11 includes a connecting knuckle, a first knuckle, and a second knuckle; the connecting knuckle is used for being connected with the corrugated pipe and the two tension springs of the rotating connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with corrugated pipes, two ends of each corrugated pipe are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of each corrugated pipe are sealed, and air pipes are connected to the two ends of each corrugated pipe. The air pipe is used for inflating or exhausting the corrugated pipe to enable the corrugated pipe to extend and shorten. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the present invention, the first palm 10 and the second palm 4 are both provided with a boss, and the first palm 10 and the second palm 4 are both connected to the finger structure through the boss.
In some embodiments provided by the present invention, two finger structures are connected to the palm one 10, and the two finger structures are the index finger 12 and the middle finger 1; forefinger 12 is the same with middle finger 1 structure, and forefinger 12 includes first knuckle and second knuckle, and first knuckle is articulated through pivot and the boss on the palm 10, the torsional spring is established to the cover in the pivot, is equipped with the aperture in second knuckle and the first knuckle, and the both ends of torsional spring insert the aperture of second knuckle and first knuckle respectively.
A corrugated pipe is arranged between the first knuckle and the first palm 10, and two ends of the corrugated pipe are respectively connected with the first knuckle and the first palm 10 through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are connected with the first knuckle and the second knuckle through fixing pieces respectively; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes. The air pipe is used for inflating or exhausting the corrugated pipe to enable the corrugated pipe to extend and shorten. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the present invention, the second palm 4 connects two finger structures, which are ring finger 2 and little finger 3; the ring finger 2 and the little finger 3 have the same structure, the ring finger 2 comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the second palm 4 through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second palm 4, and two ends of the corrugated pipe are respectively connected with the first knuckle and the second palm 4 through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are respectively connected with the first knuckle and the second knuckle through fixing pieces; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes. The air pipe is used for inflating or exhausting the corrugated pipe to enable the corrugated pipe to extend and shorten. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the invention, the device further comprises a base 7, and the palm I10 is fixed on the base 7 through bolts.
In this embodiment, the bionic hand presents the advantage of just gentle coupled structure, has rigid structure and flexible construction concurrently, and the rigid portion can provide sufficient rigidity, and the flexible portion is used for the drive of bionic hand, inflates through the bellows to on finger and the palm, thereby makes its crooked action of snatching that realizes the bionic hand, and flexible drive has better compliance than rigid drive, has better adaptability to non-structural, fragile class object.
In this embodiment, the bionic hand of the present invention has 11 degrees of freedom in total, and has better dexterity, including: the thumb 11 has a degree of freedom of bending, and the other four fingers contain two degrees of freedom of bending respectively, and the thumb 11 forms a palm finger degree of freedom with palm 10 at the rotation junction 8, and the palm two parts form a degree of freedom of rotation, are convenient for snatch objects such as globular, bottled, and snatch the mode in addition various.
The bionic hand has simple structure, simple and reliable connection of all parts and stronger replaceability; and the structure can be adjusted into a three-finger structure and a four-finger structure according to the actual application requirements, so that the expandability and the mobility are strong.
In this embodiment, when the bionic hand does not work, the bellows corresponding to each degree of freedom has an initial bending angle due to the height difference of the fixing bases on the two sides, the torsion springs on the rotating joints of the five bionic fingers are in a natural state, and the first tension spring 9 and the second tension spring 5 are in a natural state.
Referring to fig. 4 to 6, when a certain amount of gas is filled into the bellows corresponding to each degree of freedom, so that the internal gas pressure is increased, the bellows expand along the initial angle to bend, so that the fingers of the bionic hand bend, the thumb 11 and the second palm 4 rotate to the palm center by a certain angle, so that all degrees of freedom act, the bionic hand is in a grabbing state, and meanwhile, the first tension spring 9 and the second tension spring 5 are stressed to extend. When the air pressure is removed, the thumb 11 and the palm II 4 respectively return to the natural state under the tension of the first tension spring 9 and the second tension spring 5.
The 11 degrees of freedom of the rigid-flexible bionic hand can be respectively and independently controlled, so that the bionic hand can complete various gesture actions, and various dexterous tasks are completed. When the drivers corresponding to the thumb freedom degree, the palm-finger freedom degree and the two freedom degrees of the forefinger are filled with certain air pressure, the corresponding corrugated pipe is expanded and bent, the drivers corresponding to the other freedom degrees are exhausted, the corresponding corrugated pipe is contracted and extended, and meanwhile, the rigidity is high, so that the thumb and the forefinger of the bionic hand are bent at a certain angle, the palm-finger joint rotates at a certain angle, the other three fingers keep the extension state, and the bionic hand takes the gesture action of 'OK'.
The invention also provides a bionic robot which comprises a plurality of rigid-flexible bionic hands. The bionic robot has all functions of the rigid-flexible bionic hand because the bionic robot comprises the rigid-flexible bionic hand, and the details are not repeated here.
Preferably, the number of the rigid-flexible bionic hands is two.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, or applied directly or indirectly to other related systems, are included in the scope of the present invention.
Claims (10)
1. A kind of hard and soft bionic hand, characterized by:
the palm rotation connecting device comprises a first palm (10) and a second palm (4), wherein the first palm (10) and the second palm (4) are connected through a palm rotation connecting part (6) to form a revolute pair, and a thumb (11) and the first palm (10) are connected through a thumb rotation connecting part (8) to form a revolute pair;
and the first palm (10) and the second palm (4) are respectively connected with at least one finger structure.
2. A rigid-soft bionic hand according to claim 1, characterized in that:
the first palm (10) and the second palm (4) are respectively provided with a palm center side and a back side; the palm rotating connection part (6) comprises a rotating shaft, a corrugated pipe and two tension springs, a first palm (10) and a second palm (4) are hinged through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the first palm (10) and the second palm (4) through fixing parts, the two tension springs are located on two sides of the corrugated pipe, and two ends of the two tension springs are respectively fixed on the back sides of the first palm (10) and the second palm (4); the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe.
3. A stiff and soft bionic hand according to claim 2, characterized in that:
the thumb rotating connection part (8) comprises a rotating shaft, a corrugated pipe and two tension springs, the thumb (11) is hinged with the palm I (10) through the rotating shaft, two ends of the corrugated pipe are respectively connected with the back sides of the thumb (11) and the palm I (10) through fixing parts, the two tension springs are located on two sides of the corrugated pipe, and two ends of the two tension springs are respectively fixed on the thumb (11) and the back side of the palm I (10); the two ends of the corrugated pipe are sealed, and an air pipe is connected to the corrugated pipe.
4. A stiff and soft bionic hand according to claim 3, characterized in that:
the thumb (11) comprises a connecting knuckle, a first knuckle and a second knuckle;
the connecting knuckle is used for being connected with the corrugated pipe and the two tension springs of the rotating connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with corrugated pipes, two ends of each corrugated pipe are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of each corrugated pipe are sealed, and air pipes are connected to the two ends of each corrugated pipe.
5. A rigid-soft bionic hand according to any one of claims 1 to 4, characterized in that:
the palm I (10) and the palm II (4) are provided with bosses, and the palm I (10) and the palm II (4) are connected with the finger structures through the bosses.
6. A stiff and soft bionic hand according to claim 5, characterized in that:
the palm I (10) is connected with two finger structures which are respectively an index finger (12) and a middle finger (1); the structure of the forefinger (12) is the same as that of the middle finger (1), the forefinger (12) comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the palm I (10) through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe is arranged between the first knuckle and the first palm (10), and two ends of the corrugated pipe are respectively connected with the first knuckle and the first palm (10) through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are connected with the first knuckle and the second knuckle through fixing pieces respectively; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes.
7. A rigid-soft bionic hand according to claim 6, characterized in that:
the palm II (4) is connected with two finger structures which are a ring finger (2) and a little finger (3) respectively; the ring finger (2) and the little finger (3) are identical in structure, the ring finger (2) comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the second palm (4) through a rotating shaft, a corrugated pipe is arranged between the first knuckle and the second palm (4), and two ends of the corrugated pipe are connected with the first knuckle and the second palm (4) through fixing pieces respectively; the first knuckle is hinged with the second knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe are respectively connected with the first knuckle and the second knuckle through fixing pieces; both ends of the two corrugated pipes are sealed, and air pipes are connected to the two corrugated pipes.
8. A stiff-flexible bionic hand according to claim 7, characterized in that:
the palm fixing device further comprises a base (7), and the palm I (10) is fixed on the base (7) through bolts.
9. A bionic robot is characterized in that:
comprising a plurality of stiff-flexible bionic hands according to any one of claims 1 to 8.
10. A rigid-soft bionic hand according to claim 9, characterized in that:
the number of the rigid-flexible bionic hands is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108081.1A CN114434471A (en) | 2022-01-28 | 2022-01-28 | Rigid-flexible bionic hand and bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108081.1A CN114434471A (en) | 2022-01-28 | 2022-01-28 | Rigid-flexible bionic hand and bionic robot |
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| Publication Number | Publication Date |
|---|---|
| CN114434471A true CN114434471A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210108081.1A Pending CN114434471A (en) | 2022-01-28 | 2022-01-28 | Rigid-flexible bionic hand and bionic robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024027024A1 (en) * | 2022-08-02 | 2024-02-08 | 苏州大学 | Gripping and sensing device based on pneumatic soft body |
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|---|---|---|---|---|
| CN1693036A (en) * | 2005-05-19 | 2005-11-09 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN209350253U (en) * | 2018-12-27 | 2019-09-06 | 浙江工业大学 | A kind of bionic mechanical hand |
| CN111993453A (en) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | Multi-degree-of-freedom bionic dexterous hand based on separable modular design |
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2022
- 2022-01-28 CN CN202210108081.1A patent/CN114434471A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693036A (en) * | 2005-05-19 | 2005-11-09 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN209350253U (en) * | 2018-12-27 | 2019-09-06 | 浙江工业大学 | A kind of bionic mechanical hand |
| CN111993453A (en) * | 2020-09-02 | 2020-11-27 | 达奇仿生科技(杭州)有限公司 | Multi-degree-of-freedom bionic dexterous hand based on separable modular design |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024027024A1 (en) * | 2022-08-02 | 2024-02-08 | 苏州大学 | Gripping and sensing device based on pneumatic soft body |
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