Designing, Manufacturing and Controlling of the Elastic Materials Based Bionic Hand

doi:10.3901/JME.2019.11.069

Abstract

Abstract: Soft robotics, involving many fields such as signal detection, control, execution, and so on, has been a research focus in recent years. Based on elastic materials, a kind of bending actuator conforming to the regulation of human's finger movement, bionic hand of bending actuator and a stretchable capacitive sensor have been designed. There are 14 bending joints altogether being designed for each bionic hand, and every joint is independently controlled by external air-tube. When external pressure reaches 50 kPa, finger joints can achieve 90 degree's bending deformation, and at the meantime the pressure of fingertip is 210 mN. The stretchable capacitive sensor shows good performance of stability and reversibility at 200% strain, and pasting it on finger joints the function of finger movement can be detected. Finally, the sensor on a glove as wearable device, the signal of the sensor produced by fingers bend through single-chip microcomputer control system can be collected. Transferred by bluetooth, the signal gains an effective control of pneumatic circuit. Ultimately, the remote real-time control of bionic hand is achieved. It can be applied in remote interaction and life sciences etc.

Key words: bending actuator, bionic hand, control, stretchable sensor

CLC Number:

LUO Zhaojun, WANG Shuai, CHENG Guanggui, YUAN Ningyi, DING Jianning. Designing, Manufacturing and Controlling of the Elastic Materials Based Bionic Hand[J]. Journal of Mechanical Engineering, 2019, 55(11): 69-75.

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