Sensor embedded type soft gripper unit and soft robot apparatus having the same

摘要

According to the embodiments of the present invention, a first body portion formed in a hollow shape, a plurality of chamber portions spaced apart from each other by a predetermined distance to protrude, and a first body portion coupled to the first body portion and disposed between the plurality of chamber portions A second body portion, a first sensor portion coupled to the other surface opposite to one surface of the first body portion to which the second body portion is coupled, and a shape support portion disposed between the first body portion and the first sensor portion, The sensor unit includes a channel unit that generates an electrical signal, and the shape is deformed as the channel unit and the gripping object come into contact with the sensor and measures the contact force, or measures bending according to the deformation of the channel unit shape. A gripper unit and a soft robot device including the same are provided.