CN114272000A - Bionic hand intelligent control system and method and intelligent bionic hand device - Google Patents
Bionic hand intelligent control system and method and intelligent bionic hand device Download PDFInfo
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- CN114272000A CN114272000A CN202111527382.XA CN202111527382A CN114272000A CN 114272000 A CN114272000 A CN 114272000A CN 202111527382 A CN202111527382 A CN 202111527382A CN 114272000 A CN114272000 A CN 114272000A
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Abstract
The invention discloses a bionic hand intelligent control system and method and an intelligent bionic hand device, wherein the intelligent control system comprises: the pressing duration acquisition module is used for acquiring the time for which the key is continuously pressed; the pressing duration classifying module is used for distributing the duration interval of the pressing duration acquired by the pressing duration acquiring module; the current state acquisition module is used for acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state; and the control command acquisition module is used for generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module. The invention can increase the action switching and action locking functions of the intelligent bionic hand prosthesis on the basis of starting and stopping by a single button without increasing hardware cost and occupied space, thereby realizing one-key multifunction.
Description
Technical Field
The invention belongs to the technical field of bionic devices, relates to a bionic device, and particularly relates to a bionic hand intelligent control system and method and an intelligent bionic hand device.
Background
The bionic manipulator is still a new and popular product as a main means for solving the problem of self-care of life after amputation of patients at present, the types of products on the market are different, and the industry has no clear requirements and standards for the products.
The bionic manipulator is usually provided with a button, but the button has a single function and usually only has the functions of starting and shutting down. In some scenes, the bionic manipulator is inconvenient to use.
In view of the above, there is an urgent need to design a new bionic manipulator to overcome at least some of the above-mentioned disadvantages of the existing bionic manipulators.
Disclosure of Invention
The invention provides an intelligent control system and method for a bionic hand and an intelligent bionic hand device, which can realize one-key multifunction by increasing the action switching and action locking functions of an intelligent bionic hand prosthesis without increasing hardware cost and occupied space on the basis of starting and stopping by a single button.
In order to solve the technical problem, according to one aspect of the present invention, the following technical solutions are adopted:
a bionic hand intelligent control system, the intelligent control system comprising:
the pressing duration acquisition module is used for acquiring the time for which the key is continuously pressed;
the pressing duration classifying module is used for distributing the duration interval of the pressing duration acquired by the pressing duration acquiring module;
the current state acquisition module is used for acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
and the control command acquisition module is used for generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module.
As an embodiment of the present invention, the intelligent control system includes:
the bionic hand state acquisition module is used for acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
the control command classification module is used for classifying the control commands of the bionic hand; the categories of control commands include: action locking control command, unlocking control command, action switching control command and power on/off command;
and the control mode setting module is used for setting different pressing duration intervals corresponding to different control commands of the bionic hand in each state.
As an embodiment of the present invention, the setting of the control mode by the control mode setting module includes:
when the bionic hand is in an unfolded state, setting a corresponding control command as a motion switching control command in a first duration interval of the pressed key, and switching the to-be-executed motion of the bionic hand according to a set sequence;
when the bionic hand is in an action execution state and is in an unlocked action, setting a corresponding control command as an action locking control command in a first duration interval of the pressed key for locking the action of the bionic hand;
when the bionic hand is in the action execution state and the bionic hand is in the locked action, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the key.
As an embodiment of the present invention, the bionic hand intelligent control system further includes:
the bionic hand motor current acquisition circuit is used for acquiring the current flowing through each driving motor of the bionic hand;
the bionic hand holding pressure analysis module is used for analyzing the pressure data of a bionic hand holding object according to the current acquired by the bionic hand motor current acquisition circuit;
and the bionic hand motor feedback control circuit is used for controlling the action of each driving motor of the bionic hand according to the pressure data obtained by analyzing the grasping pressure analysis module of the bionic hand.
According to another aspect of the invention, the following technical scheme is adopted: an intelligent bionic hand device comprises the intelligent bionic hand control system.
As an implementation manner of the present invention, the intelligent bionic hand device further comprises a bionic hand body and a control circuit, wherein the bionic hand body is provided with a key;
the control circuit comprises a microprocessor and a signal processing circuit, the microprocessor is connected with the signal processing circuit, and the signal processing circuit is connected with the keys;
the signal processing circuit comprises a key signal output end, a power supply holding signal input end, a power supply enabling signal output end and a key connecting end;
the power supply enabling signal output end is connected with the power supply circuit, the key signal output end and the power supply maintaining signal input end are respectively connected with the microprocessor, and the key connecting end is connected with the key;
when the key is in the first state, the level state of the key signal output end is the first level state; when the key is in the second state, the level state of the key signal output end is the second level state;
the microprocessor is used for controlling the output of the power supply holding signal input end and the power supply enabling signal output end according to the duration time of the key signal output end in the first level state.
According to another aspect of the invention, the following technical scheme is adopted: a bionic hand intelligent control method comprises the following steps:
a pressing duration time obtaining step; acquiring the time for which the key is continuously pressed;
classifying the pressing duration; distributing the duration time interval of the pressing duration time acquired in the pressing duration time acquisition step;
acquiring a current state; acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
a control command acquisition step; and generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module and by combining different control commands corresponding to different pressing duration intervals of the bionic hand set in the control mode setting step in each state.
As an embodiment of the present invention, the intelligent control method includes:
acquiring a bionic hand state; acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
classifying control commands; classifying the control commands of the bionic hand; the categories of control commands include: action locking control command, unlocking control command, action switching control command and power on/off command;
setting a control mode; and setting different pressing duration intervals corresponding to different control commands of the bionic hand in each state.
As an embodiment of the present invention, the control mode setting process of the control mode setting step includes:
when the bionic hand is in an unfolded state, setting a corresponding control command as a motion switching control command in a first duration interval of the pressed key, and switching the to-be-executed motion of the bionic hand according to a set sequence;
when the bionic hand is in an action execution state and is in an unlocked action, setting a corresponding control command as an action locking control command in a first duration interval of the pressed key for locking the action of the bionic hand;
when the bionic hand is in the action execution state and the bionic hand is in the locked action, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the key.
As an embodiment of the present invention, the bionic hand intelligent control method further includes:
acquiring current flowing through each driving motor of the bionic hand;
analyzing the pressure data of the bionic hand-held object according to the current acquired by the acquisition circuit;
and controlling the actions of the driving motors of the bionic hand according to the pressure data obtained by analysis.
The invention has the beneficial effects that: the bionic hand intelligent control system, the method and the intelligent bionic hand device provided by the invention can increase the action switching and action locking functions of the intelligent bionic hand prosthesis on the basis of starting and stopping by a single button without increasing hardware cost and occupied space, thereby realizing one-key multifunction.
Drawings
Fig. 1 is a schematic composition diagram of a bionic hand intelligent control system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an intelligent bionic hand device according to an embodiment of the present invention.
Fig. 3 is a schematic composition diagram of an intelligent bionic hand device according to an embodiment of the invention.
Fig. 4 is a circuit diagram of a signal processing circuit according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the invention, reference will now be made to the preferred embodiments of the invention by way of example, and it is to be understood that the description is intended to further illustrate features and advantages of the invention, and not to limit the scope of the claims.
The description in this section is for several exemplary embodiments only, and the present invention is not limited only to the scope of the embodiments described. It is within the scope of the present disclosure and protection that the same or similar prior art means and some features of the embodiments may be interchanged.
The term "connected" in the specification includes both direct connection and indirect connection.
The invention discloses a bionic hand intelligent control system, and fig. 1 is a schematic composition diagram of the bionic hand intelligent control system in one embodiment of the invention; referring to fig. 1, the intelligent control system includes: a pressing duration obtaining module 10, a pressing duration classifying module 20, a current state obtaining module 30 and a control command obtaining module 40.
The pressing duration obtaining module 10 is configured to obtain a time for which the key is continuously pressed. The pressing duration classification module 20 is configured to allocate a duration interval in which the pressing duration acquired by the pressing duration acquisition module is located. The current state obtaining module 30 is used for obtaining the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state. The control command obtaining module 40 is configured to generate a control command corresponding to the pressing action according to the corresponding category obtained by the pressing duration classifying module and the state of the bionic hand obtained by the current state obtaining module.
Referring to fig. 1, in an embodiment of the present invention, the intelligent control system includes: a bionic hand state acquisition module 50, a control command classification module 60 and a control mode setting module 70. The bionic hand state acquisition module 50 is used for acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state. The control command classifying module 60 is used for classifying (or setting) the control commands of the bionic hand; the categories of control commands include: an action locking control command, an unlocking control command, an action switching control command and a power-on and power-off command. The control mode setting module 70 is used for setting different pressing duration time intervals corresponding to different control commands of the bionic hand in various states.
In one embodiment, emulating the state of a hand includes: a power supply connection state and a power supply disconnection state; under the connected power state, further include: an action execution state, an expansion state (which may be a set expansion state, such as a set relaxation posture); in the action executing state, the gesture setting device can comprise a straightening gesture, a first holding gesture (such as holding a beverage bottle), a second holding gesture (such as holding chopsticks), a third holding gesture (such as holding a pen), and of course, other setting gestures can be included, and the specific gesture can be set according to needs.
In an embodiment of the present invention, the setting of the control mode by the control mode setting module 70 includes: and when the bionic hand is in the unfolding state, setting the corresponding control command as the action switching control command in the first duration interval of the pressed key, and switching the actions to be executed of the bionic hand according to the set sequence.
When the bionic hand is in the action execution state and is in the unlocked action, the corresponding control command is set as the action locking control command in the first duration interval of the pressed key, so as to lock the action of the bionic hand.
When the bionic hand is in the action execution state and the bionic hand is in the locked action, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the action of the bionic hand.
In an embodiment of the present invention, the bionic hand intelligent control system further includes: the bionic hand motor current acquisition circuit, the bionic hand holding pressure analysis module and the bionic hand motor feedback control circuit. The bionic hand motor current acquisition circuit is used for acquiring the current flowing through each driving motor of the bionic hand; the bionic hand holding pressure analysis module is used for analyzing the pressure data of a bionic hand holding object according to the current acquired by the bionic hand motor current acquisition circuit; the bionic hand motor feedback control circuit is used for controlling the action of each driving motor of the bionic hand according to the pressure data obtained by analyzing the bionic hand holding pressure analysis module. In one embodiment, the motion of the motor is controlled by the bionic hand motor feedback control circuit, so that the posture of the bionic hand is controlled, the holding pressure of the bionic hand is in a set pressure range, and the phenomenon that the pressure is too large or too small is avoided.
The invention also discloses an intelligent control method of the bionic hand, which comprises the following steps:
a pressing duration time obtaining step; acquiring the time for which the key is continuously pressed;
classifying the pressing duration; distributing the duration time interval of the pressing duration time acquired in the pressing duration time acquisition step;
acquiring a current state; acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
a control command acquisition step; and generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module and by combining different control commands corresponding to different pressing duration intervals of the bionic hand set in the control mode setting step in each state.
In an embodiment of the present invention, the intelligent control method includes:
acquiring a bionic hand state; acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
classifying control commands; classifying the control commands of the bionic hand; the categories of control commands include: action locking control command, unlocking control command, action switching control command and power on/off command;
setting a control mode; and setting different pressing duration intervals corresponding to different control commands of the bionic hand in each state.
In one embodiment, the control mode setting process of the control mode setting step includes:
when the bionic hand is in an unfolded state, setting a corresponding control command as a motion switching control command in a first duration interval of the pressed key, and switching the to-be-executed motion of the bionic hand according to a set sequence;
when the bionic hand is in an action execution state and is in an unlocked action, setting a corresponding control command as an action locking control command in a first duration interval of the pressed key for locking the action of the bionic hand;
when the bionic hand is in the action execution state and the bionic hand is in the locked action, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the action of the bionic hand.
In an embodiment of the present invention, the bionic hand intelligent control method further includes: acquiring current flowing through each driving motor of the bionic hand; analyzing the pressure data of the bionic hand-held object according to the current acquired by the acquisition circuit; and controlling the actions of the driving motors of the bionic hand according to the pressure data obtained by analysis. In one embodiment, the gesture of the bionic hand is controlled by controlling the action of the motor, so that the holding pressure of the bionic hand is in a set pressure range, and the pressure is prevented from being too large or too small.
The invention further discloses an intelligent bionic hand device which comprises the bionic hand intelligent control system.
Fig. 2 is a schematic structural diagram of an intelligent bionic hand device according to an embodiment of the present invention, and fig. 3 is a schematic composition diagram of the intelligent bionic hand device according to an embodiment of the present invention; referring to fig. 2 and 3, the intelligent bionic hand device includes a bionic hand body 1 and a control circuit 3, wherein the bionic hand body 1 is provided with a key 2. The control circuit 3 comprises a microprocessor 31 and a signal processing circuit 32, the microprocessor 31 is connected with the signal processing circuit 32, and the signal processing circuit 32 is connected with the key 2.
The signal processing circuit 32 comprises a key signal output end P _ IN, a power holding signal input end ON, a power enabling signal output end SO and a key connecting end; the power supply enabling signal output end SO is connected with power supply voltage, the key signal output end P _ IN and the power supply maintaining signal input end ON are respectively connected with the microprocessor 31, and the key connecting end is connected with the key 2. When the key 2 is IN the first state, the level state of the key signal output end P _ IN is the first level state; and when the key 2 is IN the second state, the level state of the key signal output end P _ IN is the second level state.
The microprocessor 31 is configured to control the output of the power retention signal input terminal ON and the power enable signal output terminal SO according to the duration of the first level state of the key signal output terminal P _ IN.
In an embodiment of the present invention, a first end of the key 2 is connected to the signal processing circuit 32, and a second end of the key 2 is grounded.
FIG. 4 is a circuit diagram of a signal processing circuit according to an embodiment of the present invention; referring to fig. 4, in an embodiment of the present invention, the signal processing circuit 32 includes: a key signal output unit 321, a power control signal input unit 322, and a power control signal output unit 333. The input end of the key signal output unit 321 is connected to the key, and the output end of the key signal output unit 321 is connected to the microprocessor 31, so as to output the key signal to the microprocessor 31 according to the state of the key. The input end of the power control signal input unit 322 is connected to the output end of the microprocessor, and the output end of the power control signal input unit is connected to the input end of a power control signal output unit, so as to input a power control signal to the power control signal output unit. The input end of the power control signal output unit 323 is connected to the key signal output unit 321 and the power control signal input unit 322, respectively, and the output end of the power control signal output unit 323 is connected to the power circuit 34, for receiving the output signals of the key signal output unit 321 and the power control signal input unit 322, and outputting a control signal to the power circuit 34.
In an embodiment of the present invention, the key signal output unit includes: the circuit comprises a third triode Q3, a first resistor R11, a first second resistor R12, a first fourth resistor R14 and a first fifth resistor R15; an emitting electrode of the third triode Q3 is respectively connected with the key signal output end and the second end of the first resistor R11, and the first end of the first resistor R11 is connected with a first power supply voltage; the collector of the third triode Q3 is grounded; the base electrode of the third triode Q3 is respectively connected with the first end of the key, the second end of the first diode R12 and the first end of the first fifth resistor R15 through a first fourth resistor R14, and the second end of the first diode R12 is connected with a second power supply voltage; and the second end of the key is grounded.
The power supply control signal input unit comprises a fifth triode Q5, a second eight capacitor C28, a first eight resistor R18 and a first nine resistor R19; a second end of the first sixth resistor R16 is connected to a collector of a fifth transistor Q5, and a base of the fifth transistor Q5 is connected to a second end of the first eighth resistor R18; the first end of the first eight resistor R18 is respectively connected with the key signal output end, the first end of the second eight capacitor C28 and the first end of the first nine resistor R19; an emitter of the fifth triode Q5, a second end of the second eighth capacitor C28, and a second end of the first ninth resistor R19 are respectively grounded.
The power control signal output unit includes a fourth transistor Q4, a second sixth capacitor C26, a first third resistor R13, and a first seventh resistor R17. The first end of the first third resistor R13 is connected with the base of a fourth triode Q4; an emitter of the fourth triode Q4 is respectively connected to a second power voltage, a second end of the first third resistor R13 and a first end of the second sixth capacitor C26; a second end of the second sixth capacitor C26 is grounded; the collector of the fourth triode Q4 is connected to the power enable signal output terminal and the first terminal of the first seventh resistor R17, respectively, and the second terminal of the first seventh resistor R17 is grounded.
Referring to fig. 3, in an embodiment of the present invention, the signal processing circuit 32 includes: the circuit comprises a third triode Q3, a fourth triode Q4, a fifth triode Q5, a sixth capacitor C26, an eighth capacitor C28 and a plurality of resistors.
An emitting electrode of the third triode Q3 is respectively connected with the key signal output end and the second end of the first resistor R11, and the first end of the first resistor R11 is connected with a first power supply voltage; the collector of the third transistor Q3 is grounded. The base electrode of the third triode Q3 is respectively connected with the first end of the key, the second end of the first diode R12 and the first end of the first fifth resistor R15 through a first fourth resistor R14, and the second end of the first diode R12 is connected with a second power supply voltage; and the second end of the key is grounded. The second end of the first fifth resistor R15 is connected to the first end of the first third resistor R13, the base of the fourth triode Q4, and the first end of the first sixth resistor R16, respectively.
An emitter of the fourth triode Q4 is respectively connected to a second power voltage, a second end of the first third resistor R13 and a first end of the second sixth capacitor C26; the second terminal of the second sixth capacitor C26 is connected to ground. The collector of the fourth triode Q4 is connected to the power enable signal output terminal and the first terminal of the first seventh resistor R17, respectively, and the second terminal of the first seventh resistor R17 is grounded.
A second end of the first sixth resistor R16 is connected to a collector of a fifth transistor Q5, and a base of the fifth transistor Q5 is connected to a second end of the first eighth resistor R18; the first end of the first eight resistor R18 is connected with the key signal output end, the first end of the second eight capacitor C28 and the first end of the first nine resistor R19 respectively. An emitter of the fifth triode Q5, a second end of the second eighth capacitor C28, and a second end of the first ninth resistor R19 are respectively grounded.
In one embodiment, the first power supply voltage is lower than the second power supply voltage. The first power supply voltage may be 3.3V, and the second power supply voltage may be 7.4V.
In a usage scenario of the present invention, when VCC7V4 has a voltage input, the KEY1 is pressed, SO output is close to VCC7V4, the control power circuit starts to operate, the MCU of the device starts normally, and keeps SO output by turning ON high level, at which time the KEY is released, and the device keeps ON.
Pressing KEY1 during the power-on state generates a low at P _ IN. When the KEY1 is pressed, the P _ IN maintains low level, and the MCU judges that the P _ IN maintains low level for more than a certain time T, the MCU outputs the low level to ON, at the moment, the button KEY1 is released, and the SO outputs a voltage close to 0V to control the power circuit to be closed, SO that the equipment is powered off and shut down; if the time for pressing KEY1 is less than T, the motion state (the relaxed state of the intelligent bionic hand) or the locking/unlocking state (the execution state of the motion of the intelligent bionic hand, namely the non-relaxed state) can be switched according to the motion state of the current intelligent bionic hand after being judged by the MCU.
In summary, the system and the method for intelligently controlling the bionic hand and the intelligent bionic hand device provided by the invention can increase the action switching and action locking functions of the intelligent bionic hand prosthesis without increasing the hardware cost and the occupied space on the basis of starting and stopping the machine by a single button, thereby realizing one-key multifunction.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be reflected in the embodiments due to interference of various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (10)
1. A bionic hand intelligent control system, characterized in that, intelligent control system includes:
the pressing duration acquisition module is used for acquiring the time for which the key is continuously pressed;
the pressing duration classifying module is used for distributing the duration interval of the pressing duration acquired by the pressing duration acquiring module;
the current state acquisition module is used for acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
and the control command acquisition module is used for generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module.
2. The bionic hand intelligent control system according to claim 1, wherein:
the intelligent control system comprises:
the bionic hand state acquisition module is used for acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
the control command classification module is used for classifying the control commands of the bionic hand; the categories of control commands include: action locking control command, unlocking control command, action switching control command and power on/off command;
and the control mode setting module is used for setting different pressing duration intervals corresponding to different control commands of the bionic hand in each state.
3. The bionic hand intelligent control system according to claim 2, wherein:
the control mode setting of the control mode setting module comprises:
when the bionic hand is in an unfolded state, setting a corresponding control command as a motion switching control command in a first duration interval of the pressed key, and switching the to-be-executed motion of the bionic hand according to a set sequence;
when the bionic hand is in an action execution state and is in an unlocked state, setting a corresponding control command as an action locking control command in a first duration interval of the pressed key, and locking the bionic hand and forbidding the bionic hand to execute the action;
when the bionic hand is in the action execution state and the bionic hand is in the locked state, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the key.
4. The bionic hand intelligent control system according to claim 1, wherein:
the bionic hand intelligent control system further comprises:
the bionic hand motor current acquisition circuit is used for acquiring the current flowing through each driving motor of the bionic hand;
the bionic hand holding pressure analysis module is used for analyzing the pressure data of a bionic hand holding object according to the current acquired by the bionic hand motor current acquisition circuit;
and the bionic hand motor feedback control circuit is used for controlling the action of each driving motor of the bionic hand according to the pressure data obtained by analyzing the grasping pressure analysis module of the bionic hand.
5. An intelligent bionic hand device, which is characterized by comprising the bionic hand intelligent control system of any one of claims 1 to 4.
6. The intelligent bionic hand device of claim 5, wherein:
the intelligent bionic hand device further comprises a bionic hand body and a control circuit, wherein the bionic hand body is provided with a key;
the control circuit comprises a microprocessor and a signal processing circuit, the microprocessor is connected with the signal processing circuit, and the signal processing circuit is connected with the keys;
the signal processing circuit comprises a key signal output end, a power supply holding signal input end, a power supply enabling signal output end and a key connecting end;
the power supply enabling signal output end is connected with the power supply circuit, the key signal output end and the power supply maintaining signal input end are respectively connected with the microprocessor, and the key connecting end is connected with the key;
when the key is in the first state, the level state of the key signal output end is the first level state; when the key is in the second state, the level state of the key signal output end is the second level state;
the microprocessor is used for controlling the output of the power supply holding signal input end and the power supply enabling signal output end according to the duration time of the key signal output end in the first level state.
7. An intelligent control method for a bionic hand, which is characterized by comprising the following steps:
a pressing duration time obtaining step; acquiring the time for which the key is continuously pressed;
classifying the pressing duration; distributing the duration time interval of the pressing duration time acquired in the pressing duration time acquisition step;
acquiring a current state; acquiring the current state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
a control command acquisition step; and generating a control command corresponding to the pressing action according to the corresponding category acquired by the pressing duration classification module and the state of the bionic hand acquired by the current state acquisition module and by combining different control commands corresponding to different pressing duration intervals of the bionic hand set in the control mode setting step in each state.
8. The bionic hand intelligent control method according to claim 7, characterized in that:
the intelligent control method comprises the following steps:
acquiring a bionic hand state; acquiring the state of the bionic hand; the state of the bionic hand comprises the following steps: an expanded state and at least one action execution state;
classifying control commands; classifying the control commands of the bionic hand; the categories of control commands include: action locking control command, unlocking control command, action switching control command and power on/off command;
setting a control mode; and setting different pressing duration intervals corresponding to different control commands of the bionic hand in each state.
9. The bionic hand intelligent control method according to claim 8, characterized in that:
the control mode setting process of the control mode setting step includes:
when the bionic hand is in an unfolded state, setting a corresponding control command as a motion switching control command in a first duration interval of the pressed key, and switching the to-be-executed motion of the bionic hand according to a set sequence;
when the bionic hand is in an action execution state and is in an unlocked action, setting a corresponding control command as an action locking control command in a first duration interval of the pressed key for locking the action of the bionic hand;
when the bionic hand is in the action execution state and the bionic hand is in the locked action, the corresponding control command is set as an unlocking control command in the first duration interval of the pressed key, so as to unlock the key.
10. The bionic hand intelligent control method according to claim 7, characterized in that:
the bionic hand intelligent control method further comprises the following steps:
acquiring current flowing through each driving motor of the bionic hand;
analyzing the pressure data of the bionic hand-held object according to the current acquired by the acquisition circuit;
and controlling the actions of the driving motors of the bionic hand according to the pressure data obtained by analysis.
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| CN202111527382.XA CN114272000A (en) | 2021-12-14 | 2021-12-14 | Bionic hand intelligent control system and method and intelligent bionic hand device |
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| CN202111527382.XA CN114272000A (en) | 2021-12-14 | 2021-12-14 | Bionic hand intelligent control system and method and intelligent bionic hand device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111527382.XA Pending CN114272000A (en) | 2021-12-14 | 2021-12-14 | Bionic hand intelligent control system and method and intelligent bionic hand device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117752479A (en) * | 2024-02-22 | 2024-03-26 | 浙江强脑科技有限公司 | Method, device, terminal and medium for controlling grasping gesture of bionic hand |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117752479A (en) * | 2024-02-22 | 2024-03-26 | 浙江强脑科技有限公司 | Method, device, terminal and medium for controlling grasping gesture of bionic hand |
| CN117752479B (en) * | 2024-02-22 | 2024-06-18 | 浙江强脑科技有限公司 | Method, device, terminal and medium for controlling grasping gesture of bionic hand |
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