The human hand is endowed with unparalleled capacities for object manipulation and tactile perception of the external environment. In this work, we propose a Perceptive Bionic Finger (PBF), which consists of three vacuum-driven clam-inspired rigid-soft hybrid joints, connected with rigid phalanges. The PBF is capable of a maximum bending angle of 135°, with two actively controlled degrees of freedom (DOFs) and one passive DOF. The biomimetic design of the hybrid joints overcomes the drawbacks of low stiffness associated with silicone-rubber-based soft fingers. Magnetic induction-based split angle sensing films are seamlessly integrated into the two rigid plates of each hybrid joint, enabling the detection of bending angle changes as small as 0.1°. The high-resolution proprioceptive hybrid joint enables the PBF to be aware of its precise shape (bending angle) in real-time, regardless of whether the bending is caused by active drive or by passive deformation. By detecting subtle passive deformation, the PBF can recognize the surface textures and topography of a seashell as it slides across its surface, similar to how human fingers do. In addition, two PBFs are assembled on a frame to form a bionic gripper. As humans employ their thumb and index finger to perform a pinching action on an object, the two-PBF gripper is capable of discerning the object's dimensions during the grasping process, facilitated by real-time joint angle sensing. Moreover, we have demonstrated that the two-PBF gripper is capable of grasping various objects from a big plastic bottle, a cup, to a small pen and a peanut.
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