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A Highly Adaptable Flexible soft Glove Consisting of Multimode Deformable soft Finger

Journal of Bionic Engineering 2023年第4期20卷 1555-1568页

作者： Huadong Zheng Yan Cheng Xinjie Wang Caidong Wang Fengyang Liu Wei Bai Liangwen Wang School of Mechanical and Electrical Engineering Zhengzhou University of Light IndustryZhengzhou450002China School of Electrical and Information Engineering Zhengzhou University of Light IndustryZhengzhou450002China

This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft *** soft fingers are assembled by soft actuators and plastic materials that can be driven and controlled with single Degree of Freedom(DOF).A variety of different soft actuators are used as joint drive components to meet the motion requirements of fingers under different working *** established a theoretical model to describe the deflection of the soft actuators based on reciprocal *** addition,the finite-element method(FEM)was used to simulate the curvature change of the soft actuator and the soft finger,the soft actuators theoretical and simulation results were verified by experiments,and the multimode deformable soft fingers were simulated by ***,a five-finger soft rehabilitation glove was prototyped and presented experimentally where the flexibility and functionality endowed by the soft fingers were demonstrated and *** versatility was also showcased in the applications.

关键词： soft actuators Bioinspired flexible glove soft fingers Finite-element methods Rehabilitation robotics

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A modular four-modal soft grasping device

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Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

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