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This paper is based on the "Fast Pneumatic Mesh Driver" (FPN) used to couple a silicone rubber soft body with a rigid skeleton. A rigid-flexible coupling soft-body human-like finger design scheme is proposed to solve the problem of low load on the soft-body gripping hand. The second-order Yeoh model is used to establish the statics model of the soft humanoid finger, and the ABAQUS simulation analysis software is used for correction and comparison to verify the feasibility of the soft humanoid finger bending. The thickness of the driver cavity and the confining strain layer were determined by finite element simulation. The mold casting process is used to complete the preparation of human-like fingers and design a pneumatic control system for experiments combined with 3D printing technology. The experimental results show that the proposed rigid-flexible coupling soft body imitating the human finger structure can realize the corresponding actions, such as the multi-joint bending and side swinging, of human fingers. Compared with the traditional pure soft-body finger, the fingertip output force is significantly improved. The optimal design and simulation analysis of the human gripper and the feasibility of the application have practical guiding significance. [ABSTRACT FROM AUTHOR]

This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out. [ABSTRACT FROM AUTHOR]