CN113199496A - Bionic hand control device and method and electronic equipment - Google Patents

Bionic hand control device and method and electronic equipment Download PDF

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Publication number
CN113199496A
CN113199496A CN202110391986.XA CN202110391986A CN113199496A CN 113199496 A CN113199496 A CN 113199496A CN 202110391986 A CN202110391986 A CN 202110391986A CN 113199496 A CN113199496 A CN 113199496A
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CN
China
Prior art keywords
bionic hand
control
bionic
motion
sensor
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Pending
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CN202110391986.XA
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Chinese (zh)
Inventor
戴嘉韵
李震宇
朱琼
马爽爽
饶文嘉
李廷玉
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Hangzhou Fat Power Technology Co ltd
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Hangzhou Fat Power Technology Co ltd
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Priority to CN202110391986.XA priority Critical patent/CN113199496A/en
Publication of CN113199496A publication Critical patent/CN113199496A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position

Abstract

The invention provides a bionic hand control device, a bionic hand control method and electronic equipment, and relates to the field of bionic manipulator control, wherein the bionic hand control device is used for controlling the motion of a bionic hand, and the bionic hand control device comprises: the system comprises a main controller, an actuator, a communication unit, a feedback sensor, a driver and a control switch, wherein the communication unit, the feedback sensor, the driver and the control switch are connected with the main controller; wherein, the actuator is connected with the bionic hand; the feedback sensor is used for acquiring sensing data fed back by the bionic hand; the control switch is used for acquiring an action signal; the actuator is used for driving the bionic hand to move; the driver is used for providing power for the actuator; the main controller is used for controlling the bionic hand according to the sensing data fed back by the bionic hand and a control instruction generated by the action signal; the communication unit is used for transmitting the sensing data and the action signals fed back by the bionic hand to the main controller. The bionic hand control device is simple in structure, the size of the bionic hand control device is reduced on the premise of realizing various types of bionic hand control actions, and the expansibility is improved.

Description

Bionic hand control device and method and electronic equipment
Technical Field
The invention relates to the field of bionic manipulator control, in particular to a bionic manipulator control device and method and electronic equipment.
Background
The bionic hand is an instrument which drives corresponding bionic fingers by a plurality of motors and is used as an auxiliary machine for an upper limb amputee to execute various operations similar to human hands. With the progress of the technology, the motion forms of the bionic hand are more diversified and humanized, but the increase of the functions brings more complicated control logic, and the corresponding bionic hand controller has the problems of complicated structure and poor expansibility.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a bionic hand control device, a method and an electronic device, wherein the bionic hand control device has a simple structure, can be simply arranged in a palm of a bionic hand, reduces the volume of a conventional bionic hand control device on the premise of realizing various types of control actions of the bionic hand, and improves the expansibility of the bionic hand.
In a first aspect, an embodiment of the present invention provides a bionic hand control device, which is used for controlling the motion of a bionic hand, and includes: the system comprises a main controller, an actuator, a communication unit, a feedback sensor, a driver and a control switch, wherein the communication unit, the feedback sensor, the driver and the control switch are connected with the main controller; wherein, the actuator is connected with the bionic hand;
the feedback sensor is used for acquiring sensing data fed back by the bionic hand;
the control switch is used for acquiring action signals;
the actuator is used for driving the bionic hand to move;
a driver for providing power to the actuator;
the main controller is used for controlling the bionic hand according to the sensing data fed back by the bionic hand and a control instruction generated by the action signal;
the communication unit is used for transmitting the sensing data and the action signals fed back by the bionic hand to the main controller; and is also used for sending control instructions to the bionic hand.
In some embodiments, the above apparatus further comprises: an operation control unit; the motion control unit is used for controlling the bionic hand; the action control unit is connected with the communication unit;
the motion control unit includes: the motion processor is connected with the signal switching unit, the storage unit, the power supply module and the motion sensor; wherein, the action processor is connected with the communication unit;
the motion sensor is used for acquiring motion command signals of the bionic hand;
the signal switching unit is used for acquiring a switching action signal;
the motion processor is used for processing the motion command signal and the switching motion signal to generate a bionic hand control command;
the power supply module is used for supplying power to the action processor, the signal switching unit and the action sensor;
the bionic hand control command generated by the action processor is transmitted to the communication unit through the action processor.
In some embodiments, a motion sensor, comprising: a muscle electric sensor, a key, a rocker, a gravity acceleration sensor, a camera or a brain wave sensor;
a signal switching unit comprising: one or more of a muscle electric sensor device, a key device, a rocker device and a gravity acceleration sensor device;
a power module comprising: the device comprises a power management circuit, a battery module, a charging and discharging circuit, a power interface and a battery overheating protection circuit, wherein the battery module, the charging and discharging circuit, the power interface and the battery overheating protection circuit are connected with the power management circuit.
In some embodiments, the above apparatus further comprises: an instruction editor; the instruction editor is connected with the communication unit;
and the instruction editor is used for providing control instructions simulating continuous actions of hands.
In some embodiments, the instruction editor comprises: an instruction processor and an instruction generator; the instruction generated in the instruction generator is transmitted to the communication unit through the instruction processor;
an instruction generator for generating a plurality of first processing instructions for controlling a bionic hand; wherein the first processing instruction is used for controlling the single action of the bionic hand;
the instruction processor is used for processing the first processing instruction and generating a second processing instruction for controlling the bionic hand; wherein the second processing instruction is used for controlling the continuous motion of the bionic hand.
In some embodiments, an actuator, comprising: one or more power components of a direct-current speed-reducing stepping motor, an electric push rod, a micro hydraulic motor, a micro air cylinder and a linear motor;
a control switch, comprising: one or more control components of a muscle electric sensor, a key, a rocker and a gravity acceleration sensor;
a feedback sensor, comprising: one or more feedback components of a pressure sensor, a rotary potentiometer, an acceleration gyroscope, a torque detector and an angle sensor;
a communication unit, comprising: one or more communication protocol circuits of serial port, USB, Ethernet, 4G, wifi, Bluetooth, 5G, Zigbee, NB-IoT, LoRa, Sigfox, LAN and RS 485;
a driver, comprising: one or more driving devices selected from a driving motor, a controllable hydraulic pump, a controllable pneumatic pump, a direct current servo motor and an alternating current motor.
In a second aspect, an embodiment of the present invention provides a bionic hand control method, which is applied to the bionic hand control device mentioned in any possible implementation manner of the first aspect, and includes:
acquiring an action signal of the bionic hand by using the control switch;
the main controller determines a control instruction of the bionic hand according to the action signal and sends the control instruction to the driver through the communication unit;
the driver drives the bionic hand to move by using the actuator according to the control instruction;
when the bionic hand moves, the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time.
In some embodiments, the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time, and the method comprises the following steps:
acquiring the finger motion angle and/or the finger contact force of the bionic hand in real time by using a feedback sensor in the bionic hand; the finger motion angle of the bionic hand is acquired by a rotary potentiometer and/or an angle sensor in the feedback sensor; the finger contact force of the bionic hand is obtained through a pressure sensor and/or a torque sensor in the feedback sensor;
and calculating the finger closing angle and/or fingertip pressure of the bionic hand in real time according to the finger movement angle and/or finger contact force of the bionic hand, and controlling the fingers of the bionic hand to perform continuous mechanical feedback movement according to the closing angle and/or the fingertip pressure.
In some embodiments, the step of driving the bionic hand to move by the driver according to the control command by using the actuator comprises the following steps:
collecting muscle signals between a user and a bionic hand in real time, and converting the muscle signals into electric signals;
determining a muscle tension value of the arm of the user according to the electric signal converted from the muscle signal;
when the muscle tightening value is within a preset threshold interval, controlling the fingers of the bionic hand to move according to the finger bending angles corresponding to the muscle tightening value; when the muscle tightening value is larger than the upper limit of the threshold value, keeping the current posture after the bionic hand stops moving; when the muscle tightness value is less than the lower limit of the threshold value, the bionic hand is in a stretched state.
In some embodiments, controlling the finger of the bionic hand to move according to the finger closing angle corresponding to the muscle tension value comprises:
calculating the finger closing angle of the bionic hand corresponding to the muscle tightening value in real time according to the extreme value corresponding to the muscle tightening value and/or the voltage value corresponding to the muscle tightening value;
and controlling the fingers of the bionic hand to move according to the finger closing angle.
In some embodiments, when a plurality of bionic hand control apparatuses include the same motion control unit, a process of sending a control instruction to the driver through the communication unit includes:
the motion control unit is respectively connected with the plurality of bionic hand control devices in a networking way through the communication unit;
after networking connection is completed, the communication unit sends the control instructions generated by the action control unit to the plurality of bionic hand control devices at the same time.
In some embodiments, when the bionic hand control device includes a plurality of motion control units, the process of sending a control instruction to the driver through the communication unit includes:
the plurality of action control units are respectively connected with the bionic hand control device in a networking way through the communication unit;
after the networking connection is completed, the communication unit respectively sends the control instructions generated by the plurality of action control units to the bionic hand control device.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that is executable on the processor, and when the processor executes the computer program, the steps of the bionic hand control method mentioned in any possible implementation manner of the second aspect are implemented.
In a fourth aspect, the present invention further provides a computer-readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the steps of the bionic hand control method mentioned in any possible implementation manner of the second aspect.
The embodiment of the invention has the following beneficial effects:
the invention provides a bionic hand control device, a bionic hand control method and electronic equipment, wherein the bionic hand control device is used for controlling the motion of a bionic hand, and the bionic hand control device comprises: the system comprises a main controller, an actuator, a communication unit, a feedback sensor, a driver and a control switch, wherein the communication unit, the feedback sensor, the driver and the control switch are connected with the main controller; wherein, the actuator is connected with the bionic hand; the feedback sensor is used for acquiring sensing data fed back by the bionic hand; the control switch is used for acquiring action signals; the actuator is used for driving the bionic hand to move; a driver for providing power to the actuator; the main controller is used for controlling the bionic hand according to the sensing data fed back by the bionic hand and a control instruction generated by the action signal; the communication unit is used for transmitting the sensing data and the action signals fed back by the bionic hand to the main controller; and is also used for sending control instructions to the bionic hand. When the bionic hand is controlled, firstly, a control switch is used for acquiring an action signal of the bionic hand; then, the main controller determines a control instruction of the bionic hand according to the action signal and sends the control instruction to the driver through the communication unit; the driver drives the bionic hand to move by using the actuator according to the control instruction; when the bionic hand moves, the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time. The bionic hand control device is simple in structure, can be simply arranged in the palm of a bionic hand, reduces the size of a traditional bionic hand control device on the premise of realizing various types of control actions of the bionic hand, and improves the expansibility of the bionic hand.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a first bionic hand control device according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a second bionic hand control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third bionic hand control device provided by the embodiment of the invention;
FIG. 4 is a schematic structural diagram of a fourth bionic hand control device provided in the embodiment of the present invention;
FIG. 5 is a flow chart of a bionic hand control method according to an embodiment of the present invention;
fig. 6 is a flowchart of a process in which a master controller updates a motion path of a bionic hand in real time according to sensing data fed back by a feedback sensor in real time in a bionic hand control method according to an embodiment of the present invention;
fig. 7 is a flowchart of a process in which a main controller updates a motion path of a bionic hand in real time according to a finger motion angle fed back by a feedback sensor in real time in a control method of the bionic hand according to an embodiment of the present invention;
fig. 8 is a flowchart of a process in which the master controller updates the motion path of the bionic hand in real time according to the finger contact force fed back by the feedback sensor in real time in the bionic hand control method according to the embodiment of the present invention;
fig. 9 is a flowchart of step S503 in a bionic hand control method according to an embodiment of the present invention;
fig. 10 is a flowchart illustrating controlling the fingers of the bionic hand to move according to the finger closing angle corresponding to the muscle tightening value in the bionic hand control optimization method according to the embodiment of the present invention;
fig. 11 is a flowchart of a process of sending a control command to a driver through a communication unit when a plurality of bionic hand control devices include the same motion control unit in the bionic hand control optimization method according to the embodiment of the present invention;
fig. 12 is a flowchart of a process of sending a control command to a driver through a communication unit when the bionic hand control device includes a plurality of motion control units in the bionic hand control optimization method according to the embodiment of the present invention;
fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon:
11-a master controller; 12-an actuator; 13-a communication unit; 14-a feedback sensor; 15-a driver; 16-a control switch; 17-bionic hand; 21-an instruction processor; 22-an instruction generator; 31-an action processor; 32-a signal switching unit; 33-a storage unit; 34-a power supply module; 35-a motion sensor;
100-bionic hand control assembly; 200-an instruction editor; 300-motion control unit;
101-a processor; 102-a memory; 103-a bus; 104-communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The bionic hand is an instrument which drives corresponding bionic fingers by a plurality of motors and is used as an auxiliary machine for an upper limb amputee to execute various operations similar to human hands. With the progress of the technology, the motion forms of the bionic hand are more diversified and humanized, but the increase of the functions brings more complicated control logic, and the corresponding bionic hand controller has the problems of complicated structure and poor expansibility.
Based on this, the bionic hand control device, the bionic hand control method and the electronic equipment provided by the embodiment of the invention can be simply arranged in the palm of the bionic hand, so that the volume of the traditional bionic hand control device is reduced and the expansibility of the bionic hand is improved on the premise of realizing various types of control actions of the bionic hand.
For the convenience of understanding the present embodiment, a bionic hand control device disclosed in the present embodiment will be described in detail first.
Referring to fig. 1, a schematic view of a bionic hand control device for controlling the motion of a bionic hand, the device comprising: a main controller 11 and an actuator 12, and a communication unit 13, a feedback sensor 14, a driver 15, and a control switch 16 connected to the main controller 11; the actuator 12 is connected with the bionic hand and used for acquiring sensing data fed back by the bionic hand 17, and the feedback sensor 14 is connected with the bionic hand; a control switch 16 for acquiring an action signal; the actuator 12 is used for driving the bionic hand 17 to move; a driver 15 for powering the actuator 12; the main controller 11 is used for controlling the bionic hand 17 according to the sensing data fed back by the bionic hand 17 and a control command generated by the action signal; a communication unit 13 for transmitting the sensing data and the action signal fed back by the bionic hand 17 to the main controller; and also for sending control instructions to the bionic hand 17.
The main controller 11 may be a controller such as a single-chip microcomputer (mobile phone, computer, industrial personal computer) with data storage, analysis, calculation, transmission, etc. functions to receive and process data of the communication unit 13, the feedback sensor 14, and the driver 15 according to different task requirements. After the information processing is completed, the processing result is transmitted to the communication unit 13 and the driver 15.
The communication unit 13 is an information exchange center, provides an information exchange medium for equipment such as the main controller 11, and the like, is used for transmitting a motion control command to the main controller 11 for operation processing, and collects feedback data to provide for an operator; and the data can be directly transmitted to other electronic equipment for data storage and backup.
The communication unit 13 exchanges information using a unified protocol, such as serial port, USB, ethernet, 4G, wifi, bluetooth, 5G, Zigbee, NB-IoT, LoRa, Sigfox, LAN, RS485, and the like. The communication unit 13 can quickly expand a new functional module, and the expansion can be realized only by connecting a communication interface of the new functional module into the communication unit 13.
And the driver 15 is used for providing required power energy for the actuator 12 after receiving data of the main controller 11 according to different task requirements. It is also possible to transmit to the main controller 11 by monitoring the drive signal of the driver 15 itself for providing a real-time feedback of the operation signal.
The actuator 12 is a power unit, and the actuator 12 is connected with the bionic hand 17 and is also connected with the driver 15. The driver 15 provides the power energy required to simulate the motion of the hand 17. The actuator 12 has a preset action stroke, and can automatically stop working after reaching the preset stroke.
The feedback sensor 14 is configured to feed back data such as the position, motion, and mechanical state of each finger of the hand and transmit the state data obtained by the feedback to the main controller 11.
The control switch 16 functions to provide a single or continuous action signal that is communicated to the device master controller 11.
The bionic hand control device can be used as a bionic hand control assembly and can be understood as a control center in the bionic hand control process. As shown in fig. 1, the bionic hand control device can be referred to as a bionic hand control assembly 100, and can be easily expanded. According to the bionic hand control device, the bionic hand control device can be simply arranged in the palm of a bionic hand, the size of the traditional bionic hand control device is reduced on the premise that various types of control actions of the bionic hand can be realized, and the expansibility of the bionic hand is improved.
In some embodiments, the actuator comprises: one or more power components of a direct-current speed-reducing stepping motor, an electric push rod, a micro hydraulic motor, a micro air cylinder and a linear motor; a control switch, comprising: one or more control components of a muscle electric sensor, a key, a rocker and a gravity acceleration sensor; a feedback sensor, comprising: one or more feedback components of a pressure sensor, a rotary potentiometer, an acceleration gyroscope and a torque detector; a communication unit, comprising: one or more communication protocol circuits of serial port, USB, Ethernet, 4G, wifi, Bluetooth, 5G, Zigbee, NB-IoT, LoRa, Sigfox, LAN and RS 485; a driver, comprising: one or more driving devices selected from a driving motor, a controllable hydraulic pump, a controllable pneumatic pump, a direct current servo motor and an alternating current motor.
The feedback sensor is used for feeding back data such as finger position, motion, and mechanical state of the bionic hand to the main controller 11. The feedback sensor may be a pressure sensor, a rotary potentiometer, an acceleration gyroscope, or a torque detector, depending on the usage scenario. The following describes a usage scenario of the feedback sensor.
Pressure sensors, including but not limited to membrane pressure sensors, pressure strain gauges, may be mounted on the surface of the fingers, palm of a simulated hand. When the fingers and the palms touch the object, the pressure sensor is compressed; pressure sensor at this moment can be with pressure transform signal conversion signal for the signal of telecommunication to in order to acquire current finger grip's dynamics in main control unit with the signal of telecommunication transmission. The pressure sensor can feed back the current monitoring signal in real time, so that the action strength of each finger can be monitored in real time.
The angle sensor, including but not limited to flat rotary potentiometer, circle axle potentiometer, miniature electronic encoder arranges at the finger root, installs on the finger steering spindle, can monitor the turned angle of finger to convert finger angle information into the signal of telecommunication, give device main control unit in real time, thereby the action position of each finger of real time monitoring.
The acceleration gyroscope is arranged in the palm, can monitor the reverse rotation and the action of the manipulator, can monitor signals such as vibration and motion acceleration of the manipulator and transmits the acceleration signals to the main controller in real time.
The torque monitor, including but not limited to a driving chip and a driving circuit for the driver to provide driving power, can control the actuator to act according to the power signal provided by the main controller, and can feed back the current driving voltage, current, power and other signals to the main controller. When the bionic finger touches an object, if the bionic finger continues to move, the resistance of the finger is increased, and larger driving force and driving current are needed for overcoming the resistance. Through the driving chip and the driving circuit, the current signal can be monitored, and the load resistance of the current finger can be calculated and analyzed in real time, so that the action strength of each finger of the bionic hand can be monitored in real time.
The pressure sensor, the rotary potentiometer, the acceleration gyroscope and the torque detector can be combined in pairs, and a plurality of pressure sensors, the rotary potentiometer, the acceleration gyroscope and the torque detector can be combined for use and work simultaneously. More accurate finger and thumb state information can be further obtained through a related algorithm operated by the main controller, and the fusion control of the angle and the force is realized.
As can be seen from the schematic structural diagram of the third bionic hand control device shown in fig. 2, the bionic hand control device further includes: an operation control unit 300; the motion control unit 300 is used for controlling the bionic hand; the motion control unit 300 is connected to the communication unit 13 in the bionic hand control assembly 100.
Specifically, the motion control unit 300 includes: a motion processor 31, and a signal switching unit 32, a storage unit 33, a power supply module 34, and a motion sensor 35 connected to the motion processor 31; wherein, the action processor 31 is connected with the communication unit 13; a motion sensor 35 for acquiring a motion instruction signal of the bionic hand; a signal switching unit 32 for acquiring a switching action signal; a motion processor 31 for processing the motion command signal and the switching motion signal to generate a bionic hand control command; the power module 34 is used for supplying power to the motion processor 31, the signal switching unit 32 and the motion sensor 35; the motion processor 31 transmits the bionic hand control command generated by the motion processor 31 to the communication unit. The motion control unit 300 includes a communication interface similar to the communication unit 13, and is capable of data communication with the communication unit 13 in the bionic hand control assembly 100.
Specifically, the motion processor 31 may be a control chip such as a single chip microcomputer having data storage, analysis, calculation, transmission, and the like, and is configured to receive and process data of the communication unit 13, the motion sensor 35, and the driver 15 according to different task requirements; the instruction data is transmitted to the communication unit 13 after the information processing is completed, or the instruction data is transmitted to the driver 15.
The signal switching unit 32 includes: one or more of a muscle electric sensor device, a key device, a rocker device and a gravity acceleration sensor device; the storage unit 33 includes, but is not limited to, an SD card, a flash memory chip, a memory bank, an SSD, a mechanical hard disk, and other electronic storage devices. The storage unit 33 is connected to the motion processor 31, and functions to store data acquired, calculated, and processed by the motion processor 31.
The signal switching unit 32 includes, but is not limited to, a myoelectric sensor, a key, a rocker, and a gravity acceleration sensor, and is used for collecting a switching action signal of an operator. A signal switching unit 32 which can be operated by an operator or can be worn on body parts such as the head, hands and waist; the operator can perform actions such as pressing or releasing the keys, toggling or resetting the joystick, contracting or relaxing muscles, swinging the head, and waving the arms by the signal switching unit 32. The captured signal is passed to the motion processor 31 for processing and determination.
The motion sensor 35 includes: a muscle electric sensor, a key, a rocker, a gravity acceleration sensor, a camera or a brain wave sensor. The function of the device is to collect start or stop instruction action operation signals of an operator. The motion sensor 35 can be operated by an operator or worn on the head, hands, waist and other body parts; the operator presses the key and releases the key; poking the rocker and resetting the rocker; contracting and relaxing muscles; oscillating the head; the motions of waving arms and the like can be acquired by the motion sensor 35; the bioelectricity signals and brain wave signals of the operator can be monitored; the status signals of the bionic hand can also be collected visually. And finally, transmitting the collected signals to the action processor 31 for operation, processing and storage. The acquired signal may be an acquired digital signal, a digital signal obtained by judging an analog signal by a preset threshold, or a continuous analog signal.
The analog signals collected by the motion sensor 35 can also be processed into digital switching signals through the initial signals collected by the preset threshold region, and the motion operation states obtained by the operation of the operator are respectively judged; the analog signal collected by the motion sensor 35 can also be directly transmitted to the motion processor 31 through the analog signal, and the strength of the signal is judged by the motion processor 31, and finally the strength of the motion of the bionic hand is controlled.
A power module 34, comprising: the device comprises a power management circuit, a battery module, a charging and discharging circuit, a power interface and a battery overheating protection circuit, wherein the battery module, the charging and discharging circuit, the power interface and the battery overheating protection circuit are connected with the power management circuit. Specifically, the power management circuit is used for managing the power supply process of the power module; the battery module is used for providing power; the charging and discharging circuit is used for providing related circuits for realizing charging and discharging processes; the battery overheating protection circuit is used for providing disconnection protection when the power supply module is overheated; the power interface is used for providing charging and discharging interfaces. The power module 34 provides power to the components contained in the motion control unit 300, and the power module 34 is installed inside the motion control unit 300, and has a small size and can be carried around.
The bionic hand control assembly 100 is respectively connected with the instruction editor 200 and the action control unit 300; or the three can be connected in sequence to control each other. The instruction editor 200 and the motion control unit 300 can be respectively connected with a plurality of bionic hand control assemblies 100 to realize the control of a plurality of bionic hands; the bionic hand control assembly 100 can be remotely controlled through the communication unit 13 included in the instruction editor 200 and the motion control unit 300, so that the bionic hand can be remotely controlled.
As can be seen from the schematic structural diagram of the second bionic hand control device shown in fig. 3, the bionic hand control device further includes: an instruction editor 200; the instruction editor 200 is connected to the communication unit 13 in the bionic hand control assembly 100; and an instruction editor 200 for providing control instructions simulating continuous movements of the hand.
The instruction editor 200 includes: an instruction processor 21 and an instruction generator 22; the instruction generated in the instruction generator 22 is transmitted to the communication unit 13 through the instruction processor 21; an instruction generator 22 for generating a plurality of first processing instructions for controlling the bionic hand; wherein the first processing instruction is used for controlling the single action of the bionic hand; the instruction processor 21 is used for processing the first processing instruction and generating a second processing instruction for controlling the bionic hand; wherein the second processing instruction is used for controlling the continuous motion of the bionic hand. The command editor 200 includes a communication interface similar to the communication unit 13, and is capable of data communication with the communication unit 13 in the bionic hand control assembly 100.
The command editor 200 is a control terminal capable of editing motion commands, including but not limited to a mobile phone, a tablet computer, an industrial personal computer, a personal computer, etc., and can generate control commands of a bionic hand through the corresponding command generator 22. The instruction generator 22 is provided with corresponding control software, and can realize the editing of a single motion instruction. The control software provides operation for designing and editing motion instructions or can monitor the running state of the instructions through a human-computer interaction interface. After the information processing is completed, the data and the information are finally transmitted to the communication unit 13 and the driver 15. The control software is an application program running on the instruction editor 200, and the program has the functions of: designing and editing a single control instruction to be operated, and designing a related movement instruction; the single instruction can be independently controlled to act, the single instruction is sent to the device control assembly, and the sending of the action instruction is suspended and stopped; monitoring instruction sending and operation states, recording operation data and uploading the data to a server for analysis.
The human-computer interaction interface can be a touch screen, a liquid crystal display screen, an LED display screen, a projector and the like, and is used for providing media for an operator to operate.
The instruction editor 200 is directly connected to the bionic hand control device through the communication unit 13, and individually controls the instruction action of a single finger in the bionic hand. When the communication unit 13 sends a single instruction, the bionic hand realizes a corresponding single action, i.e. the single finger of the bionic hand performs the corresponding single action. The single action may be finger extension, finger flexion and closure of the bionic hand.
As can be seen from the schematic structural diagram of the fourth bionic hand control device shown in fig. 4, the bionic hand control device includes both the command editor 200 and the motion control unit 300, and can perform more complicated control on the bionic hand under the combined action of the command editor 200 and the motion control unit 300.
The electronic control panel of the bionic hand control device can be arranged in the palm module. For example, the LED lamp can be embedded into a palm module, so that the overall structure volume is reduced, and the appearance is more attractive; the palm can be placed in the half of the palm front palm and the half of the palm back palm respectively, the space of the palm is fully utilized, the circuit area is increased, and more functions are realized.
The bionic hand control device can be connected with different types of bionic hands by setting a standard mechanical interface, and the expansibility and the maintenance reliability of the whole manipulator can be improved. The bionic hand control device can supply power in a built-in battery mode and can also supply power through an external power interface, and the application scene is wider.
According to the bionic hand control device in the embodiment, the bionic hand control device can be simply arranged in the palm of a bionic hand, and the size of a traditional bionic hand control device is reduced on the premise of realizing various types of control actions of the bionic hand. Meanwhile, the system can be combined with an instruction editor, an action control unit and the like, so that the expansibility of the bionic hand is improved.
An embodiment of the present invention provides a bionic hand control method, which is applied to the bionic hand control device mentioned in the above embodiment, as shown in fig. 5, and the method includes:
in step S501, a control switch is used to obtain a motion signal of the bionic hand.
The user obtains the action signal of the bionic hand by using the control switch, and the action signal can be realized by a pre-deployed myoelectric sensor, a key, a rocker and a gravity acceleration sensor. Taking a gravity acceleration sensor as an example, a user wears a control switch on the head, and when the head of the user slightly inclines to the left side for a certain distance and restores to the original position, the action is taken as an action signal of a bionic hand.
And step S502, the main controller determines a control instruction of the bionic hand according to the action signal and sends the control instruction to the driver through the communication unit.
The main controller generates a control command through corresponding operation according to the received action signal, and sends the control command to the driver through the communication unit. Taking a gravity acceleration sensor as an example, a user wears a control switch on the head, and when the head of the user slightly inclines to the left side for a certain distance and restores to the original position, the action is taken as an action signal of a bionic hand. When the head of the operator restores to a normal posture, the gravity acceleration sensor monitors a corresponding action signal, and the switching instruction signal is transmitted to the main controller through the communication unit after being processed by the main controller.
In step S503, the driver drives the bionic hand to move by the actuator according to the control command.
The main controller switches the current motion command into a specific bionic hand motion command, for example, when the motion command designates that the motion is the movement of an index finger, the operable thumb bends 45 degrees and the thumb knuckle rotates 75 degrees. The head is slightly inclined to the left side for a certain distance and the original position is restored, and other action commands can be continuously switched.
And step S504, when the bionic hand moves, the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time.
This step corresponds to the continuous feedback control of a single finger, and the following describes the process of the continuous feedback control of the bionic hand with an embodiment of actual specific actions.
The process of updating the motion path of the bionic hand in real time by the main controller according to the sensing data fed back by the feedback sensor in real time is as shown in fig. 6, and includes:
step S601, acquiring the finger motion angle and/or the finger contact force of the bionic hand in real time by using a feedback sensor in the bionic hand.
The finger motion angle of the bionic hand is acquired by a rotary potentiometer and/or an angle sensor in the feedback sensor; the finger contact force of the bionic hand is obtained by a pressure sensor and/or a torque sensor in the feedback sensor.
Step S602, calculating the finger closing angle and/or fingertip pressure of the bionic hand in real time according to the finger movement angle and/or the finger contact force of the bionic hand, and controlling the fingers of the bionic hand to perform continuous mechanical feedback movement according to the closing angle and/or the fingertip pressure.
Specifically, the implementation process of continuous feedback control can be realized by simply using a related angle sensor or a related pressure sensor; it is also possible to implement an angle sensor in combination with a pressure sensor. The following first describes a process of implementing the bionic hand continuous feedback control using only the relevant angle sensor. As shown in fig. 7, the method includes:
step S71, acquiring the finger motion angle of the bionic hand in real time by using a feedback sensor in the bionic hand; wherein, the finger motion angle of the bionic hand is obtained by a rotary potentiometer and/or an angle sensor in the feedback sensor.
The feedback sensor mentioned in this step includes, but is not limited to, an angle sensor disposed at the finger joint, and the bending angle of the finger during movement can be directly obtained.
And step S72, calculating the finger closing angle of the bionic hand in real time according to the finger movement angle of the bionic hand, and controlling the fingers of the bionic hand to move according to the closing angle.
By using the relevant angle sensor to realize the continuous feedback control process of the bionic hand, simple feedback control can be realized when the bionic hand moves. In addition to using the angle fed back by the feedback sensor to implement real-time feedback control on a single finger of the bionic hand, the method may also implement real-time feedback control by using the finger contact force fed back by the feedback sensor, as shown in fig. 8, and includes:
step S81, acquiring the finger contact force of the bionic hand in real time by using a feedback sensor in the bionic hand; wherein the finger contact force of the bionic hand is obtained by a pressure sensor and/or a torque sensor in the feedback sensor.
The feedback sensor mentioned in this step includes, but is not limited to, a pressure sensor disposed on the surface of the finger, and the contact pressure of the finger can be directly obtained; the finger contact pressure can also be calculated through the finger torque obtained by the relevant torque sensor. Specifically, the torque sensor includes, but is not limited to, a torque sensor disposed on the finger rotation shaft, and the acquisition of the finger torque may also calculate the driver current signal so as to indirectly obtain the finger rotation torque.
And step S82, calculating the finger tip pressure of the bionic hand in real time according to the contact force of the finger tip fed back in real time, and controlling the finger of the bionic hand to perform mechanical continuous feedback motion according to the finger tip pressure.
In this embodiment, continuous feedback control of the individual finger gripping strength of the bionic hand is achieved using the finger contact force fed back in the feedback sensor. The bionic hand continuous feedback control process is realized by using the related pressure sensor, the feedback control on the pressure layer surface can be realized when the position of the bionic hand is moved, and the bionic hand continuous feedback control can be realized better by feeding back the pressure in real time when the bionic hand grabs an object more fragile.
In the actual operation process, the combination control can be realized by combining the angle sensor and the pressure sensor, the precision of continuous feedback control is further improved, and the continuous feedback control of the finger gripping strength is realized.
In some embodiments, the step S503 of driving the bionic hand to move by the actuator according to the control command by the driver, as shown in fig. 9, includes:
step S901, collecting muscle signals between the user and the bionic hand in real time, and converting the muscle signals into electrical signals.
At the moment, the user wears the bionic hand at a corresponding position, and muscle signals between the user and the bionic hand can be collected in real time through the corresponding muscle electric sensor, so that the muscle signals are converted into electric signals.
And step S902, determining the muscle tightening value of the arm of the user according to the electric signal converted from the muscle signal.
Step S903, when the muscle tightening value is in a preset threshold value interval, controlling the fingers of the bionic hand to move according to the finger bending angles corresponding to the muscle tightening value; when the muscle tightening value is larger than the upper limit of the threshold value, keeping the current posture after the bionic hand stops moving; when the muscle tightness value is less than the lower limit of the threshold value, the bionic hand is in a stretched state.
In a specific embodiment, the controlling the finger of the bionic hand to move according to the finger closing angle corresponding to the muscle tightening value includes, as shown in fig. 10:
and S1001, calculating the finger closing angle of the bionic hand corresponding to the muscle tightening value in real time according to the extreme value corresponding to the muscle tightening value and/or the voltage value corresponding to the muscle tightening value.
In the process of performing the associated movement of the finger closing angle and the muscle tightening value of the bionic hand, the finger closing angle and the muscle tightening value need to be in one-to-one correspondence. For example, a linear relationship can be established between the stress extreme value of the muscle tightening value and the corresponding voltage value, and a closing angle formula is generated. For example, the closing angle is calculated as follows:
Figure BDA0003014517240000131
wherein, aiIs a real-time finger closing angle of a bionic hand; a isbThe maximum closing angle of the fingers of the bionic hand; fiA real-time muscle tightness value for the user; faIs the muscle tension value at the lower threshold limit; fbIs the muscle tension value at the upper threshold limit; v. ofiA real-time muscle voltage value for the user; v. ofaIs the muscle voltage value at the lower threshold limit; v. ofbIs the muscle voltage value at the upper threshold limit;
and step S1002, controlling the fingers of the bionic hand to move according to the finger closing angle.
The feedback process described above is described below in connection with a specific embodiment. Firstly, an operator wears the bionic hand control device on the head, and the head of the operator slightly inclines to the left side for a certain distance and restores to the original position. When the head of the operator restores to a normal posture, the gravity acceleration sensor monitors a corresponding action signal, and the communication unit transmits a switching instruction signal to the main controller of the bionic hand to complete the control of the bionic hand.
When the machine bionic hand was worn to operator's arm, the control switch and the operator arm contact of bionic hand, if: the control switch is a muscle electric sensor, the right hand muscle of the operator starts to be tightened from a relaxed state, the muscle electric sensor continuously collects the electric signal v of the arm muscle of the user, and the tightening degree F of the arm muscle is judged. The muscle electric sensor continuously transmits the sampled electric signal v to the main controller. And the device main controller controls the subsequent finger module according to the magnitude of the electric signal v.
When the muscle tension of the user's arm is greater than a certain initial threshold FaWhen the muscle electric sensor detects that the electric signal of the muscle is larger than the initial value vaAt this time v (v)>va) Pass to main control unit, main control unit gives the driver and assigns drive instruction, and the driver gives the executor and assigns the execution instruction, and the executor drives the forefinger of imitative hand and begins the closure by the complete extension state (closed angle is 0 °). The feedback sensor continuously collects the value of the closing angle a and feeds the value of the closing angle alpha back to the main controller.
The operator continuously tightens the muscle of the right hand when the tightness exceeds a certain upper limit FbThe muscle electric sensor detects that the electric signal of the muscle reaches a maximum value vbAnd the closing command is transmitted to the main controller in real time, and the main controller transmits the closing command to the index finger of the bionic hand through the driver and the actuator. At the moment, the index finger is continuously closed, the feedback sensor continuously feeds back the closing angle a to the main controller, and when the closing angle a reaches the maximum angle (at the moment, the closing angle a is a ═ a)b) When the bionic hand is used, the main controller gives a stop instruction to the driver, and the actuator cuts off the power of the index finger of the bionic hand. The same can be obtained: when the tension is at a certain value F in the interval (a, b)i(Fa<Fi<Fb) The index finger closing angle is
Figure BDA0003014517240000132
Wherein, aiA real-time finger closure angle for the bionic hand; a isbA maximum finger closure angle for the bionic hand; fiA real-time muscle tightness value for the user; faIs the muscle tightness value at the lower threshold limit; fbIs the muscle tightness value at the upper threshold limit; v. ofiA real-time muscle voltage value for the user; v. ofaIs the muscle voltage value at the lower threshold limit; v. ofbIs the muscle voltage value at the upper threshold limit. When the muscle of the user is relaxed to the degree that the tightness is lower than the initial threshold value FaAt this time, the index finger is extended again to the fully extended state (closure angle 0 °).
Feedback sensors in bionic hands typically use pressure sensors as well as torque sensors, and continuous feedback is described below with respect to both feedback sensors.
First, continuous feedback using a pressure sensor.
The motion command is continuous bending motion, and the holding power is kept to be beta; the feedback sensor in this case is a pressure sensor arranged on the surface of the finger.
The main controller gives a driving command to the driver, the driver drives the actuator to start movement, and the actuator drives the thumb of the bionic hand to start closing movement. Uninterrupted feedback pressure data P of feedback sensoriWith an initial value of Pa. When the finger contacts the object, the pressure value monitored by the pressure sensor is increased, and the monitored sensing data value P is increasediThe value also increases. When a preset maximum pressure threshold value P is reachedbWhen the finger reaches the state that the holding power is kept to be beta, the main controller controls the driver and the actuator to stop moving, and the current holding power is kept, so that the continuous feedback control of the holding power is realized.
And secondly, continuous feedback realized by using a torque monitor.
The motion command is continuous bending motion, and the holding power is kept to be beta; the feedback sensor in this case is a pressure sensor arranged on the surface of the finger.
The main controller gives a driving command to the driver, the driver drives the actuator to start movement, and the actuator drives the thumb of the bionic hand to start closing movement. Driver uninterrupted feedback drive current IiIts initial value is Ia. When the finger contacts the object, the motor rotates continuously, and the current value I monitored by the driveriIncreasing the finger grip value. When a preset maximum current threshold I is reachedbNamely, the fingers keep the holding power to be beta, the main controller controls the driver and the actuator to stop moving, and the current holding power is kept, so that the continuous feedback control of the holding power is realized.
Through the steps, the operator realizes the real-time feedback control of the single finger. The closing and extending actions of any single finger can be controlled in real time, and the angle alpha of the closing and extending of the finger can be controlled in real time.
According to the bionic hand control method, continuous feedback motion control of the bionic hand can be achieved, and meanwhile various types of control actions of the bionic hand can be achieved.
In the actual use process, a scene that a plurality of bionic hands are controlled simultaneously may be encountered, and a scene that a plurality of people control a single bionic hand may also be encountered, which are described below.
In some embodiments, when a plurality of bionic hand control apparatuses include the same motion control unit, a process of sending a control instruction to the driver through the communication unit, as shown in fig. 11, includes:
step S1101 is to connect the motion control unit to the plurality of bionic hand control devices via the communication unit in a network.
Specifically, a plurality of bionic hand control devices and one action control unit can be simultaneously networked through a communication protocol built in the communication unit, so that the action control unit can simultaneously control the movement of a plurality of bionic hands. The protocol adopted by the networking can be a wireless protocol which can be remotely connected, such as a serial port, USB, Ethernet, 4G, wifi, Bluetooth, 5G, Zigbee, NB-IoT, LoRa, Sigfox, LAN, RS485 and the like, and can ensure that the connection is kept at a long distance and real-time control is realized.
Step S1102, after the networking connection is completed, the communication unit sends the control command generated by the motion control unit to a plurality of bionic hand control devices at the same time.
The control instructions generated by one motion control unit are simultaneously sent to a plurality of bionic hand control devices, so that the cooperative operation of a plurality of bionic hands can be realized, and the dance robot is particularly suitable for use in performance occasions.
In some embodiments, when the bionic hand control device includes a plurality of motion control units, a process of sending a control instruction to the driver through the communication unit, as shown in fig. 12, includes:
and step S1201, respectively connecting the plurality of action control units with the bionic hand control device in a networking manner through the communication unit.
The network protocol used in the networking process is similar to that in the above embodiment, and is not described again. The difference is that in this embodiment, a plurality of motion control units are connected to one bionic hand control device in a network.
Step S1202, after the networking connection is completed, the communication unit sends the control commands generated by the plurality of action control units to the bionic hand control device respectively.
The step can send the control command generated by each motion control unit to a bionic hand control device respectively, so that the cooperative operation of multiple persons on the same bionic hand can be realized, for example, the total number of the motion control units is 5, the serial numbers are A/B/C/D/E, and the thumb, the index finger, the middle finger, the ring finger and the little finger of the bionic hand are controlled respectively and independently move. The 5 motion control units are respectively worn on different operators, so that the function of cooperatively controlling the work of the bionic hand by multiple persons is realized. This mode is suitable for fine operation, particularly for use in hazardous situations, such as: and carrying out remote explosive disposal.
The bionic hand control device provided by the embodiment of the invention has the same technical characteristics as the bionic hand control device provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved. For the sake of brief description, the corresponding contents in the aforementioned embodiments of the bionic hand control device may be referred to where not mentioned in the embodiments section.
The embodiment also provides an electronic device, a schematic structural diagram of which is shown in fig. 13, and the electronic device includes a processor 101 and a memory 102; the memory 102 is used for storing one or more computer instructions, which are executed by the processor to implement the above-mentioned bionic hand control method.
The electronic device shown in fig. 13 further includes a bus 103 and a communication interface 104, and the processor 101, the communication interface 104, and the memory 102 are connected through the bus 103.
The Memory 102 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Bus 103 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 13, but that does not indicate only one bus or one type of bus.
The communication interface 104 is configured to connect with at least one user terminal and other network units through a network interface, and send the packaged IPv4 message or IPv4 message to the user terminal through the network interface.
The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method of the foregoing embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (14)

1. A bionic hand control device for controlling the movement of a bionic hand, the device comprising: the system comprises a main controller, an actuator, a communication unit, a feedback sensor, a driver and a control switch, wherein the communication unit, the feedback sensor, the driver and the control switch are connected with the main controller; wherein the actuator is connected with the bionic hand;
the feedback sensor is used for acquiring sensing data fed back by the bionic hand;
the control switch is used for acquiring action signals;
the actuator is used for driving the bionic hand to move;
the driver is used for providing power for the actuator;
the master controller is used for controlling the bionic hand according to the sensing data fed back by the bionic hand and the control instruction generated by the action signal;
the communication unit is used for transmitting the sensing data fed back by the bionic hand and the action signal to the main controller; and the control instruction is sent to the bionic hand.
2. The bionic hand control device according to claim 1, further comprising: an operation control unit; the motion control unit is used for controlling the bionic hand; the action control unit is connected with the communication unit;
the motion control unit includes: the motion processor is connected with the signal switching unit, the storage unit, the power supply module and the motion sensor; wherein the action processor is connected with the communication unit;
the motion sensor is used for acquiring motion instruction signals of the bionic hand;
the signal switching unit is used for acquiring a switching action signal;
the motion processor is used for processing the motion instruction signal and the switching motion signal to generate a bionic hand control instruction;
the power supply module is used for supplying power to the action processor, the signal switching unit and the action sensor;
the bionic hand control instruction generated by the action processor is transmitted to the communication unit through the action processor.
3. The bionic hand control device according to claim 2, wherein the motion sensor comprises: a muscle electric sensor, a key, a rocker, a gravity acceleration sensor, a camera or a brain wave sensor;
the signal switching unit includes: one or more of a muscle electric sensor device, a key device, a rocker device and a gravity acceleration sensor device;
the power module includes: the device comprises a power management circuit, and a battery module, a charging and discharging circuit, a power interface and a battery overheating protection circuit which are connected with the power management circuit.
4. The bionic hand control device according to claim 1, further comprising: an instruction editor; the instruction editor is connected with the communication unit;
the instruction editor is used for providing control instructions for simulating continuous actions of the hands.
5. The bionic hand control device according to claim 4, wherein the instruction editor comprises: an instruction processor and an instruction generator; the instructions generated in the instruction generator are transmitted to the communication unit through the instruction processor;
the instruction generator is used for generating a plurality of first processing instructions for controlling the bionic hand; wherein the first processing instruction is used for controlling a single action of the bionic hand;
the instruction processor is used for processing the first processing instruction and generating a second processing instruction for controlling the bionic hand; wherein the second processing instruction is for controlling continuous motion of the bionic hand.
6. The biomimetic hand control device of claim 1, wherein the actuator comprises: one or more power components of a direct-current speed-reducing stepping motor, an electric push rod, a micro hydraulic motor, a micro air cylinder and a linear motor;
the control switch includes: one or more control components of a muscle electric sensor, a key, a rocker and a gravity acceleration sensor;
the feedback sensor, comprising: one or more feedback components of a pressure sensor, a rotary potentiometer, an acceleration gyroscope, a torque detector and an angle sensor;
the communication unit includes: one or more communication protocol circuits of serial port, USB, Ethernet, 4G, wifi, Bluetooth, 5G, Zigbee, NB-IoT, LoRa, Sigfox, LAN and RS 485;
the driver, comprising: one or more driving devices selected from a driving motor, a controllable hydraulic pump, a controllable pneumatic pump, a direct current servo motor and an alternating current motor.
7. A bionic hand control method applied to the bionic hand control device of any one of claims 1 to 6, the method comprising:
acquiring an action signal of the bionic hand by using the control switch;
the master controller determines a control instruction of the bionic hand according to the action signal and sends the control instruction to the driver through the communication unit;
the driver drives the bionic hand to move by using the actuator according to the control instruction;
when the bionic hand moves, the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time.
8. The bionic hand control method according to claim 7, wherein the main controller updates the motion path of the bionic hand in real time according to the sensing data fed back by the feedback sensor in real time, and comprises the following steps:
acquiring the finger motion angle and/or the finger contact force of the bionic hand in real time by using a feedback sensor in the bionic hand; wherein the finger motion angle of the bionic hand is acquired by a rotary potentiometer and/or an angle sensor in the feedback sensor; the finger contact force of the bionic hand is acquired through a pressure sensor and/or a torque sensor in the feedback sensor;
and calculating the finger closing angle and/or the fingertip pressure of the bionic hand in real time according to the finger movement angle and/or the finger contact force, and controlling the fingers of the bionic hand to perform continuous mechanical feedback movement according to the closing angle and/or the fingertip pressure.
9. The bionic hand control method according to claim 7, wherein the step of driving the bionic hand to move by the actuator according to the control command by the driver comprises the following steps:
collecting muscle signals between the user and the bionic hand in real time, and converting the muscle signals into electric signals;
determining a muscle tightening value of the user arm according to the electric signal converted from the muscle signal;
when the muscle tightening value is within a preset threshold value interval, controlling the fingers of the bionic hand to move according to the finger bending angle corresponding to the muscle tightening value; when the muscle tightness value is larger than the upper limit of the threshold value, the bionic hand keeps the current posture after stopping moving; when the muscle tightness value is less than the lower limit of the threshold value, the bionic hand is in a stretched state.
10. The method of claim 9, wherein controlling the fingers of the bionic hand to move according to the finger closing angle corresponding to the muscle tightening value comprises:
according to the extreme value corresponding to the muscle tightening value and/or the voltage value corresponding to the muscle tightening value, calculating the finger closing angle of the bionic hand corresponding to the muscle tightening value in real time;
and controlling the fingers of the bionic hand to move according to the finger closing angle.
11. The bionic hand control optimization method according to claim 7, wherein when a plurality of the bionic hand control devices comprise the same motion control unit, the process of sending the control command to the driver through the communication unit comprises:
the motion control unit is connected with the plurality of bionic hand control devices in a networking mode through the communication unit;
after networking connection is completed, the communication unit sends the control command generated by the action control unit to the plurality of bionic hand control devices at the same time.
12. The bionic hand control optimization method according to claim 7, wherein when the bionic hand control device comprises a plurality of motion control units, the process of sending the control instruction to the driver through the communication unit comprises:
the motion control units are respectively connected with the bionic hand control device in a networking manner through the communication unit;
after networking connection is completed, the communication unit sends the control commands generated by the action control units to the bionic hand control device respectively.
13. An electronic device, comprising: a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, carries out the steps of the bionic hand control method of any one of claims 7 to 12.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the bionic hand control method according to any one of claims 7 to 12.
CN202110391986.XA 2021-04-09 2021-04-09 Bionic hand control device and method and electronic equipment Pending CN113199496A (en)

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