ABSTRACT A soft robot hand with fingertip haptic feedback for teleoperation is proposed to perform complex tasks and ensure safe and friendly human-machine interaction. This robot hand can perform finger flexion/extension and abduction/adduction motions. A data glove is used to collect the hand joint angle data of the operator. Flexion sensors are embedded in the soft robot hand to monitor the bending angles of the actuators. Pressure sensors on the fingertips of the robot hand collect contact force data, and haptic feedback actuators located on the fingertips of the operator display the contact force to the operator. Characterization tests and teleoperation performance tests involving human participants are performed to prove the feasibility of the soft robot hand. The soft robot hand prototype satisfies the output force requirements and can meet 96.86% of the design requirements of the joint angles. The soft robot hand can be teleoperated to perform nine commonly used motions in daily operational tasks. The success rates of fingertip force discrimination, grasp, and pinch ability experiment are 100%, 95.00%, and 98.33%, respectively. The results of the experiment suggest that the soft robot hand with fingertip haptic feedback can perform complex tasks in teleoperation. GRAPHICAL ABSTRACT

中文翻译：

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用于遥操作的具有指尖触觉反馈的软机器人手的设计和性能表征

摘要 提出了一种用于远程操作的具有指尖触觉反馈的软机器人手，以执行复杂的任务并确保安全友好的人机交互。这个机器人手可以进行手指的屈/伸和外展/内收运动。数据手套用于采集操作者的手关节角度数据。弯曲传感器嵌入在软机器人手中，以监测执行器的弯曲角度。机器人手指尖上的压力传感器收集接触力数据，位于操作员指尖上的触觉反馈执行器向操作员显示接触力。进行涉及人类参与者的表征测试和遥操作性能测试，以证明软机器人手的可行性。软机器人手原型满足输出力要求，能满足关节角度设计要求的96.86%。软机器人手可以遥控执行日常操作任务中的九种常用动作。指尖力判别、抓握和捏合能力实验的成功率分别为100%、95.00%和98.33%。实验结果表明，具有指尖触觉反馈的软机器人手可以在遥操作中执行复杂的任务。图形概要 实验结果表明，具有指尖触觉反馈的软机器人手可以在遥操作中执行复杂的任务。图形概要 实验结果表明，具有指尖触觉反馈的软机器人手可以在遥操作中执行复杂的任务。图形概要