CN115635506A - Force and body position feedback soft robot finger based on flexible cavity deformation - Google Patents

Abstract

The invention belongs to the technical field of soft robots, and discloses a force and body position feedback soft robot finger based on flexible cavity deformation. The force feedback mechanism comprises a soft fingertip, the soft fingertip is fixed at the upper end of the fixing part, the fixing part is fixed at the top end of the soft finger, the first silica gel hose penetrates through the inside of the soft finger, the fixing part is connected with the first air pressure sensor, and the first air pressure sensor is electrically connected with the first microcontroller. The position feedback mechanism comprises a corrugated pipe, the corrugated pipe is fixed in a joint groove of the soft finger, a second silica gel hose penetrates through the soft finger, the corrugated pipe is connected with a second air pressure sensor, and the second air pressure sensor is electrically connected with a second microcontroller. The invention aims to obtain the position information of a soft robot finger and the contact force information when the soft robot finger is in contact with an object by using an internal sensor and an external sensor respectively.

Description

Force and body position feedback soft robot finger based on flexible cavity deformation

Technical Field

The invention belongs to the technical field of soft body machines, and particularly relates to a force and body position feedback soft body machine finger based on flexible cavity deformation.

Background

Sensing is a research focus of the soft robot, and the soft robot is not limited to simple reciprocating switch-type open-loop motion at present, and a sensing mechanism is required to acquire information in internal and external environments and feed the information back to a control mechanism of the soft robot. The sensing mechanism of the soft robot generally comprises an internal sensor and an external sensor, wherein the internal sensing mainly acquires variables such as the position and the speed of the robot, and the external sensing mainly acquires state variables such as contact force and distance when the robot interacts with the external environment. For internal sensing, mature sensing modes such as an encoder, a strain gauge and an inertial measurement unit are mostly used in a traditional robot mechanism, but the modes usually destroy the flexibility characteristics of a soft robot, so that the internal sensing of the soft robot is not suitable; for external sensing, common external sensing methods mainly include a camera mechanism, an electromagnetic tracking mechanism, and the like, and most of such sensing methods require large and complicated equipment, and such sensing methods are generally ineffective in some specific, narrow, and magnetic object application scenarios.

In response to these problems, new flexible sensing means such as optical fibers, conductive liquids, conductive carbon black, etc. have appeared in recent years. For example, the national invention patent CN 215114387U proposes a flexible strain sensor based on conductive carbon black, the strain sensor is attached to the joint of the index finger, and when the finger is bent, the sensor attached to the joint is deformed, so that the resistance changes; when the finger is straightened, the resistance is restored to the initial value, and the larger the degree of bending of the finger is, the higher the amplitude of the resistance response is.

Most of the current perception research on soft robots is based on independent ontology perception or independent external perception, and few researches integrate ontology perception and external perception mechanisms into the same soft robot mechanism at the same time. Therefore, the invention provides the soft robot finger based on the force and body position feedback of the deformation of the flexible cavity.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide the soft robot finger based on the force and body position feedback of the deformation of the flexible cavity, and solves the problems in the prior art.

The purpose of the invention can be realized by the following technical scheme:

the soft robot finger based on the force and body position feedback of the deformation of the flexible cavity comprises a soft finger, a force feedback mechanism, a position feedback mechanism, a driving mechanism and a finger fixing mechanism.

Force feedback mechanism includes the software fingertip, software fingertip fixed connection is in the upper end of mounting, mounting fixed connection be in the top that the software pointed, first silica gel hose runs through inside the software points, will mounting and first baroceptor are connected, first baroceptor and first microcontroller electric connection.

The utility model discloses a soft body, including software fingertip, first silica gel hose, the inside cavity of having seted up of software fingertip, the inside of mounting is provided with the passageway, first silica gel hose with the passageway with the cavity intercommunication.

Position feedback mechanism includes the bellows, bellows fixed connection is in the joint groove department that the software pointed, second silica gel hose run through inside the software points, will bellows and second baroceptor are connected, second baroceptor and second microcontroller electric connection.

Furthermore, the soft finger is cylindrical and consists of three finger phalanges, one finger metacarpal bone and three finger joints; the three finger phalanges are sequentially and movably connected through the finger joints, and the finger metacarpal bones are movably connected with the finger phalanges at the tail ends through the finger joints; the joint groove is formed in the other side of the finger joint.

Furthermore, two rope through holes with equal size and equal depth are formed in the eccentric side of the inner part of the soft finger; three second silica gel hose through holes with the same size and the same depth are formed in the inner eccentric part of the soft finger and on the same side as the rope through hole; the eccentric opposite side in the software finger also opens has first silica gel hose through-hole.

Further, the soft fingertip is hemispherical, and the inner cavity is also hemispherical.

Furthermore, the fixing piece is cylindrical, the channel in the fixing piece comprises an air cavity through hole formed in the inner side of the top of the fixing piece, and the bottom of the air cavity through hole is connected with a pipeline-shaped structure; one end of the first silica gel hose is connected to the pipeline-shaped structure, and the other end of the first silica gel hose penetrates through the whole through hole of the first silica gel hose, the soft finger is connected with the first air pressure sensor at the bottom.

Further, the position feedback mechanism comprises three corrugated pipes, wherein the three corrugated pipes are an upper end corrugated pipe, a middle part corrugated pipe and a lower end corrugated pipe respectively; the three corrugated pipes are respectively arranged at different joint groove positions on the corresponding soft finger.

Furthermore, a cavity structure is arranged in the corrugated pipe, and two independent silica gel hose passages are arranged in the cavity structure; bellows bottom is provided with the silica gel hose hole, the one end of second silica gel hose is connected to silica gel hose hole, the other end passes through second silica gel hose through-hole runs through whole the software finger, with the bottom the second baroceptor is connected.

Further, actuating mechanism comprises steering wheel and rope, steering wheel pivot fixed connection steering wheel pulley on the steering wheel, rope one end warp the rope through-hole is fixed extremely the top of software finger, the other end is fixed extremely steering wheel pulley department.

Furthermore, the finger fixing mechanism is composed of a base and a connecting piece, and the bottom end of the soft finger is fixed in the middle of the upper end of the base through the connecting piece.

Further, the first air pressure sensor, the first microcontroller, the second air pressure sensor and the second microcontroller are fixedly connected inside the base; the steering wheel is fixed inside the base through a steering wheel upper end fixing piece and a steering wheel lower end fixing piece.

The invention has the beneficial effects that:

the invention provides a novel flexible sensing mode based on gas pressure and cavity deformation, which integrates the functions of force feedback and position feedback at the top and the groove of a soft robot finger respectively and does not influence the flexibility of the soft robot finger. Under the drive of the steering engine and the rope, the fingers bend at the grooves, the corrugated pipe is extruded and synchronously bent in the same direction with the fingers along the folding and stretching direction, and meanwhile, the gas in the corrugated pipe is compressed and is converted into a pressure signal through the measurement of the gas pressure sensor and the processing of the microcontroller; the soft machine fingertip at the top of the finger generates deformation under the action of external force, the internal gas is compressed, and the internal gas is converted into a pressure signal through the measurement of the air pressure sensor and the processing of the microcontroller. The air pressure sensor can sense extremely fine air pressure change, and the response time is quick and usually does not exceed 5ms. Based on experiments, the corresponding relation between the contact force-pressure value and the bending angle-pressure value can be established, so that the soft robot finger has the functions of force feedback and position feedback at the same time, and the internal and external sensing capabilities are obtained.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a soft robotic finger organization according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the overall structure of a soft robot finger according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a soft finger according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a soft finger according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a force feedback mechanism of an embodiment of the present invention;

FIG. 6 is a diagram illustrating a software fingertip configuration according to an embodiment of the present invention;

FIG. 7 is a schematic view of a fastener construction according to an embodiment of the invention;

FIG. 8 is a cross-sectional view of a mount according to an embodiment of the invention;

FIG. 9 is a schematic structural diagram of a position feedback mechanism in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of a bellows configuration according to an embodiment of the present invention;

FIG. 11 is a schematic cross-sectional structural view of a bellows of an embodiment of the present invention;

FIG. 12 is a schematic cross-sectional view of a bellows and silicone hose connection according to an embodiment of the present invention;

FIG. 13 is a schematic structural view of a finger fixing mechanism according to an embodiment of the present invention;

FIG. 14 is a schematic structural view of a drive mechanism of an embodiment of the present invention;

FIG. 15 is a schematic diagram of the drive and position feedback principles of an embodiment of the present invention;

fig. 16 is a simplified force feedback principle of an embodiment of the present invention.

Reference numerals are as follows:

1. soft fingers; 11. a finger phalanx; 12. a finger metacarpal bone; 13. a finger joint; 14. a joint groove; 15. a rope through hole; 16. a first silica gel hose through hole, 17, a second silica gel hose through hole;

2. a force feedback mechanism; 21. soft fingertip 211, hollow cavity; 22. a fixing member; 221. an air cavity through hole; 222. a tubular structure; 23. a first silicone rubber hose; 24. a first air pressure sensor; 25. a first microcontroller;

3. a position feedback mechanism; 31. a bellows; 311. an upper end bellows; 312. a middle bellows; 313. a lower end bellows; 314. an internal cavity structure; 315. a silica gel hose hole; 316. a silica gel hose passage; 32. a second silicone rubber hose; 33. a second air pressure sensor; 34. a second microcontroller;

4. a drive mechanism; 41. a steering engine; 411. a steering engine rotating shaft; 412. a steering engine pulley; 42. a rope; 43. a fixed part is arranged at the upper end of the steering engine; 44. a fixed part is arranged at the lower end of the steering engine;

5. a finger fixing mechanism; 51. a base; 52. a connecting member;

6. an object.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship merely to facilitate description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced components or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be construed as limiting the invention.

As shown in fig. 1 and fig. 2, fig. 1 is a schematic diagram of an organization structure of a soft robot finger according to an embodiment of the present invention, and fig. 2 is a schematic diagram of an overall structure of the soft robot finger according to the embodiment of the present invention. The soft robot finger consists of five parts, namely a soft finger 1, a force feedback mechanism 2, a position feedback mechanism 3, a driving mechanism 4 and a finger fixing mechanism 5.

As shown in fig. 3, fig. 3 is a schematic diagram of a soft finger structure according to an embodiment of the present invention. The soft finger 1 is cylindrical and consists of three finger phalanges 11, one finger metacarpal bone 12 and three finger joints 13; the three finger phalanges 11 are sequentially and movably connected through finger joints 13, and the finger metacarpal bones 12 are movably connected with the finger phalange 11 at the tail end through the finger joints 13; the other side of each finger joint 13 is provided with a joint groove 14 with the same size and depth.

As shown in fig. 4, fig. 4 is a schematic cross-sectional view of a soft finger according to an embodiment of the present invention. The eccentric side in the soft finger 1 is provided with two rope through holes 15 with equal size and equal depth for assembling the rope 42; three second silica gel hose through holes 17 with the same size and the same depth are formed in the same side of the inner eccentric part of the soft finger 1 and the rope through hole 15 and are used as channels of a second silica gel hose 32 of the position feedback mechanism 3; the other eccentric side of the inner part of the soft finger 1 is also provided with a first silica gel hose through hole 16 which is used as a channel of a first silica gel hose 23 of the force feedback mechanism 2.

As shown in fig. 5, fig. 5 is a schematic structural diagram of the force feedback mechanism according to the embodiment of the present invention. The whole force feedback mechanism 2 consists of a soft fingertip 21, a fixing piece 22, a first silica gel hose 23, a first air pressure sensor 24 and a first microcontroller 25. The soft body fingertip 21 is fixedly arranged at the upper end of the fixing part 22, the lower end of the fixing part 22 is fixedly connected with the first air pressure sensor 24 through the first silica gel hose 23, and the first air pressure sensor 24 is electrically connected with the first microcontroller 25.

As shown in fig. 6, fig. 6 is a schematic diagram of a software fingertip structure according to an embodiment of the present invention. The soft fingertip 21 is in a hemispherical shape, and a hemispherical cavity 211 is formed inside the soft fingertip.

As shown in fig. 7 and 8, fig. 7 is a schematic structural view of a fixing member according to an embodiment of the present invention, and fig. 8 is a sectional view of the fixing member according to the embodiment of the present invention. The fixing piece 22 is positioned between the top end of the soft finger 1 and the bottom end of the soft fingertip 21 for fixing connection, and is used for connecting the soft finger 1 and the soft fingertip 21. The fixing member 22 is cylindrical, and has an air chamber through hole 221 formed at the inner side of the top thereof, the air chamber through hole 221 being communicated with the cavity 211, and a duct-like structure 222 being connected to the bottom of the air chamber through hole 221. One end of the first silicone hose 23 is fixedly connected to the pipeline-shaped structure 222, and the other end thereof penetrates through the whole soft finger 1 through the first silicone hose through hole 16 and is fixedly connected with the first air pressure sensor 24 at the bottom. The first air pressure sensor 24 is connected to a first microcontroller 25 for the evaluation of the signals.

As shown in fig. 9, fig. 9 is a schematic structural diagram of a position feedback mechanism according to an embodiment of the present invention. The whole position feedback mechanism 3 consists of a corrugated pipe 31, a second silicone hose 32, a second air pressure sensor 33 and a second microcontroller 34. The lower end of the corrugated tube 31 is fixedly connected with a second air pressure sensor 33 through a second silicone hose 32, and the second air pressure sensor 33 is electrically connected with a second microcontroller 34.

As shown in fig. 10 and fig. 11, fig. 10 is a schematic structural view of a bellows according to an embodiment of the present invention, and fig. 11 is a schematic structural view of a cross section of the bellows according to an embodiment of the present invention. The position feedback mechanism 3 includes three bellows 31, and the three bellows 31 are an upper end bellows 311, a middle bellows 312, and a lower end bellows 313, respectively. The three corrugated pipes 31 are respectively fixedly arranged at different positions of the three joint grooves 14 on the corresponding soft finger 1, the wave distances of the corrugated pipes 31 are different, the wave distance at the inner side of the joint groove 14 is the minimum, and the wave distance at the outer side of the joint groove 14 is the maximum, so that the corrugated pipes 31 can be folded and stretched synchronously and equidirectionally under the action of external force by the special structural design. A cavity structure 314 is formed inside the bellows 31, in order to enable the second silicone hoses 32 respectively connected to the silicone hose holes 315 at the bottoms of the upper end bellows 311, the middle part bellows 312, and the lower end bellows 313 to smoothly pass through the whole soft finger 1 through the second silicone hose through holes 17, and to avoid mutual influence, the air volumes of the cavity structures 314 inside the upper end bellows 311, the middle part bellows 312, and the lower end bellows 313 are ensured to be the same, two independent silicone hose channels 316 are arranged inside the cavity structure 314, and the silicone hose channels 316 are used for the second silicone hoses 32 to pass through. Therefore, the inner structures of the upper end bellows 311, the middle bellows 312 and the lower end bellows 313 are different, i.e., the distribution positions of the silicone hose hole 315 and the two silicone hose passages 316 are different. The inner silicone tube passage 316 is also of a bellows structure, and the inner and outer wave pitches are different, so that the inner silicone tube passage can be folded and contracted synchronously and in the same direction as the outer bellows 31.

Fig. 12 is a sectional view of the bellows and silicone hose according to the embodiment of the present invention, as shown in fig. 12. The silica gel hose holes 315 at the bottoms of the upper end corrugated tube 311, the middle corrugated tube 312 and the lower end corrugated tube 313 are respectively and fixedly connected with one end of the respective second silica gel hose 32, and the other ends of the three second silica gel hoses 32 penetrate through the respective second silica gel hose through holes 17 in the soft finger 1 and are fixedly connected to the second air pressure sensor 33. The second air pressure sensor 33 is connected to a second microcontroller 34 for the evaluation of the signals.

As shown in fig. 13, fig. 13 is a schematic structural view of the finger fixing mechanism according to the embodiment of the invention. The finger fixing mechanism 5 consists of a base 51 and a connecting piece 52, and the bottom end of the soft finger 1 is fixed to the middle of the upper end face of the base 51 through the connecting piece 52.

The first air pressure sensor 24 and the first microcontroller 25 connected to the bottom end of the first silicone hose 23, and the second air pressure sensor 33 and the second microcontroller 34 connected to the bottom end of the second silicone hose 32 are fixedly connected to the inside of the base 51.

As shown in fig. 14 and 15, fig. 14 is a schematic structural view of a driving mechanism according to an embodiment of the present invention, and fig. 15 is a schematic view of a principle of driving and position feedback according to an embodiment of the present invention. Actuating mechanism 4 comprises steering wheel 41 and rope 42, steering wheel pivot 411 fixed connection to steering wheel pulley 412, and the one end of rope 42 is fixed to the top of software finger 1 through rope through-hole 15, and the other end is fixed to steering wheel pulley 412 department, and steering wheel 41 is fixed to inside the base 51 via steering wheel upper end mounting 43 and steering wheel lower extreme mounting 44.

The steering engine 41 drives the rope 42 to contract and match with each other to output torque, so that the soft finger 1 is bent at each joint groove 14 in a coupling manner. The corrugated pipe 31 is compressed under the action of force, and due to the special corrugated pipe structural design adopted by the external structure and the internal silica gel hose passage 316, the corrugated pipe 31 can be folded and contracted synchronously and in the same direction with the soft finger 1 at the joint groove 14; after the external force action is removed, the soft finger 1 can be restored to the original shape due to its own elasticity, and the corrugated tube 31 is also pulled up to the original shape. During the whole folding and stretching process, the gas in the cavity structure 314 inside the bellows 31 is compressed and restored, the pressure generated by the compressed and restored gas is transmitted to the second air pressure sensor 33 through the second silicone hose 32, and the pressure can be mapped to a corresponding air pressure value through the measurement of the second air pressure sensor 33 and the analog-to-digital conversion action of the second microcontroller 34. Based on experiments, the corresponding relationship between the bending angle and the air pressure value can be obtained, so that the change of the air pressure value caused by compressing and restoring the corrugated pipe 31 in the bending process of the soft finger 1 can obtain the corresponding change of the bending angle of the soft finger 1 at the joint groove 14. After the bending angle of each joint groove 14 is obtained, the position of the tail end of the soft robot finger in a two-dimensional space can be calculated, so that the soft robot finger has the position feedback capacity.

Fig. 16 is a schematic diagram of the force feedback principle of the embodiment of the present invention, as shown in fig. 16. When the soft fingertip 21 contacts with the object 6, the soft fingertip is subjected to force action and is deformed locally, so that the gas in the cavity 211 is compressed, the pressure generated by the compressed gas is transmitted to the first air pressure sensor 24 sequentially through the air cavity through hole 221, the pipeline-shaped structure 222 and the first silica gel hose 23, and the pressure can be mapped into a corresponding air pressure value through measurement of the first air pressure sensor 24 and analog-to-digital conversion of the first microcontroller 25. The corresponding contact force and the air pressure value are calibrated based on experiments, and the change of the air pressure value caused when the soft fingertip 21 at the top of the finger is in contact with the object 6 can be converted into the magnitude of the contact force, so that the soft robot finger has the force feedback capacity.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (10)

1. The soft robot finger is characterized by comprising a soft finger (1), a force feedback mechanism (2), a position feedback mechanism (3), a driving mechanism (4) and a finger fixing mechanism (5);

the force feedback mechanism (2) comprises a soft fingertip (21), the soft fingertip (21) is fixedly connected to the upper end of a fixing piece (22), the fixing piece (22) is fixedly connected to the top end of the soft finger (1), a first silica gel hose (23) penetrates through the soft finger (1) to connect the fixing piece (22) and a first air pressure sensor (24), and the first air pressure sensor (24) is electrically connected with a first microcontroller (25);

a cavity (211) is formed in the soft fingertip (21), a channel is formed in the fixing piece (22), and the first silica gel hose (23) is communicated with the channel and the cavity (211);

position feedback mechanism (3) are including bellows (31), bellows (31) fixed connection be in joint recess (14) department of software finger (1), second silica gel hose (32) run through inside software finger (1), will bellows (31) and second baroceptor (33) are connected, second baroceptor (33) and second microcontroller (34) electric connection.

2. The flexible luminal strain based force and body position feedback soft robotic finger of claim 1, wherein the soft finger (1) is cylindrical and consists of three finger phalanges (11), one finger metacarpal bone (12) and three finger joints (13); the three finger phalanges (11) are sequentially and movably connected through finger joints (13), and the finger metacarpal bones (12) are movably connected with the finger phalanges (11) at the tail end through the finger joints (13); the joint groove (14) is formed in the other side of the finger joint (13).

3. The soft robot finger based on force and body position feedback of flexible lumen deformation as claimed in claim 1, wherein the eccentric side of the inside of the soft finger (1) is opened with two rope through holes (15) of equal size and equal depth; three second silica gel hose through holes (17) with the same size and the same depth are formed in the inner eccentric part of the soft finger (1) and on the same side as the rope through hole (15); the eccentric other side in the soft body finger (1) is also provided with a first silica gel hose through hole (16).

4. The flexible channel deformation based force and body position feedback soft robotic finger of claim 1, wherein the soft fingertip (21) is hemispherical and the inner cavity (211) is also hemispherical.

5. The soft robotic finger based on force and body position feedback of flexible channel deformation according to claim 3, wherein the fixture (22) is cylindrical, the channel inside it comprises an air cavity through hole (221) opened inside the top, the bottom of the air cavity through hole (221) is connected to a tunnel-like structure (222); one end of the first silica gel hose (23) is connected to the pipeline-shaped structure (222), and the other end of the first silica gel hose is connected with the first air pressure sensor (24) at the bottom through the first silica gel hose through hole (16) penetrating through the whole soft finger (1).

6. The soft robotic finger based on force and body position feedback of flexible channel deformation according to claim 1, wherein the position feedback mechanism (3) comprises three bellows (31), the three bellows (31) being an upper end bellows (311), a middle section bellows (312) and a lower end bellows (313), respectively; the three corrugated pipes (31) are respectively arranged at different positions of the joint grooves (14) on the corresponding soft finger (1).

7. The flexible channel deformation based force and body position feedback soft robotic finger according to claim 3, wherein said bellows (31) contains a cavity structure (314) inside, two independent silicone hose channels (316) are provided inside said cavity structure (314); bellows (31) bottom is provided with silica gel hose hole (315), the one end of second silica gel hose (32) is connected to silica gel hose hole (315), the other end passes through second silica gel hose through-hole (17) run through wholly software finger (1), with the bottom second baroceptor (33) is connected.

8. The soft robot finger based on force and body position feedback of flexible cavity deformation according to claim 3, characterized in that the driving mechanism (4) is composed of a steering engine (41) and a rope (42), a steering engine rotating shaft (411) on the steering engine (41) is fixedly connected with a steering engine pulley (412), one end of the rope (42) is fixed to the top of the soft finger (1) through the rope through hole (15), and the other end of the rope is fixed to the steering engine pulley (412).

9. The soft robotic finger based on force and body position feedback of flexible lumen deformation according to claim 8, wherein the finger fixing mechanism (5) is composed of a base (51) and a connecting piece (52), the bottom end of the soft finger (1) is fixed at the middle of the upper end of the base (51) through the connecting piece (52).

10. The flexible channel deformation based force and body position feedback soft robotic finger according to claim 9, wherein said first pneumatic sensor (24), said first microcontroller (25), said second pneumatic sensor (33), and said second microcontroller (34) are fixedly connected inside said base (51); the steering engine (41) is fixed inside the base (51) through a steering engine upper end fixing piece (43) and a steering engine lower end fixing piece (44).

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