Lung contour one-way deformation control structure of lung-imitating soft robot based on soft driver

The invention discloses a lung contour one-way deformation control structure of a lung-imitating soft robot based on a soft driver. According to the control structure, pneu-net soft drivers which are connected through a connector are uniformly distributed in the circumferential direction of a center fixing seat; a corrugated pipe driver is fixedly connected between each connector and the central fixing seat; the air pipe is communicated with the pneu-net software driver and the corrugated pipe driver; the control structure simulates the radial deformation of the lung and the boundary curvature of the lung mass of the lung respectively through the radial expansion characteristic shown by applying air pressure to the corrugated pipe driver and the bending characteristic shown by applying air pressure to the pneu-net software driver. The control structure effectively simulates the contour of the lung during one-way deformation in a pneumatic driving mode, and a complete lung-imitating soft robot is formed by a p