Humanoid Soft Hand Design Based on sEMG Control

Based on the design of the human hand and driving theory, a humanoid soft manipulator with three cavities structure is proposed, and the three-dimensional model of the soft manipulator is modeled. The large deformation mathematical model of the soft manipulator is established by using Yeoh model. Combined with the geometrical relation between the deformation and the Kraiberian equation, the relationship among the input pressure, geometric parameters and bending angle were analyzed. According to the finite element analysis, the influence of the number of cavities, the shape of the cavity side, the pressure in the cavity and the direct punching on the bending performance of the soft manipulator were obtained. The structure of the humanoid robot and its pneumatic system were designed and fabricated. Based on the characteristics of the surface EMG (sEMG) of the muscle group, the ten kinds of gesture recognition and control modes were established, and the real-time control of the soft-manipulator was realized by the EMG signal. The robot can reproduce the gesture behavior of the person, the recognition rate is 93.2%. The conclusion can provide theoretical support for the development of humanoid soft manipulator.