CN114434472A - Bionic hand system and control method - Google Patents
Bionic hand system and control method Download PDFInfo
- Publication number
- CN114434472A CN114434472A CN202210108865.4A CN202210108865A CN114434472A CN 114434472 A CN114434472 A CN 114434472A CN 202210108865 A CN202210108865 A CN 202210108865A CN 114434472 A CN114434472 A CN 114434472A
- Authority
- CN
- China
- Prior art keywords
- knuckle
- palm
- corrugated pipe
- negative pressure
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 17
- 238000005452 bending Methods 0.000 claims abstract description 8
- 210000003813 thumb Anatomy 0.000 claims description 30
- 210000003811 finger Anatomy 0.000 claims description 29
- 230000003993 interaction Effects 0.000 claims description 18
- 230000000875 corresponding effect Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 210000005224 forefinger Anatomy 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Prostheses (AREA)
Abstract
The invention belongs to the technical field of manipulators, and relates to a bionic hand system and a control method. A bionic hand system comprises a master control end, a rigid-flexible bionic hand and a slave control end; the master control end comprises a data glove, a portable computer and a near-end ad hoc network device, and the slave control end comprises an air pump, a positive and negative pressure control box and a far-end ad hoc network device; the data glove is used for collecting the data of bending of each joint of a hand of a person in real time and transmitting the data to the portable computer, then transmits a control instruction to the remote end ad hoc network equipment through the near end ad hoc network equipment, the air pump is connected with the positive and negative pressure control box, the positive and negative pressure control box receives the information of the remote end ad hoc network equipment, and the air pump is controlled to inflate or deflate the rigid-flexible bionic hand, so that the rigid-flexible bionic hand is controlled. The invention can remotely operate and control the bionic hand to replace human hands to complete complex tasks in an unstructured dangerous environment so as to ensure the safety of workers, and simultaneously improve the action precision and response speed of the pneumatic driving bionic hand.
Description
Technical Field
The invention belongs to the technical field of manipulators, and relates to a bionic hand system and a control method.
Background
With the rapid development of science and technology, the bionic manipulator is emerging continuously, and various dexterous actions can be realized by controlling the bionic hand so as to complete complex operation tasks. In the existing manipulator driving mode, the actuator of the pneumatic bionic manipulator has excellent performance, and the pneumatic system has lower requirements on the external environment, so that the operation requirement in the unstructured environment can be met. However, the pneumatic driving bionic hand has lower control precision, and when the air pressure is removed, the response speed is lower, and the bionic hand cannot timely make the next dexterous motion, so that the efficiency performance of the bionic hand is greatly influenced. Meanwhile, the existing mechanical control lacks a teleoperation control function, and a teleoperation system can enable a worker to remotely operate a bionic hand in a safe place to execute a complex task.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a bionic hand system and a control method, which can remotely operate and control the bionic hand to replace a human hand to complete complex tasks in an unstructured dangerous environment so as to ensure the safety of workers and simultaneously improve the action precision and response speed of the pneumatically driven bionic hand.
The technical scheme for solving the problems is as follows:
a bionic hand system, which is characterized in that:
comprises a master control end, a rigid-flexible bionic hand and a slave control end;
the master control end comprises a data glove, a portable computer and a near-end ad hoc network device, and the slave control end comprises an air pump, a positive and negative pressure control box and a far-end ad hoc network device;
the data glove is used for acquiring the bending data of each joint of the hand of an operator in real time and transmitting the data to the portable computer, the portable computer processes the data and converts the data into a control instruction, the control instruction is transmitted to the far-end ad hoc network equipment through the near-end ad hoc network equipment,
the air pump is connected with the positive and negative pressure control box, and the positive and negative pressure control box receives the information of the remote ad hoc network equipment and controls the air pump to pump air or pump air for the corrugated pipe actuator of the rigid-flexible bionic hand according to the control instruction, so that the rigid-flexible bionic hand is controlled.
Furthermore, the main control end also comprises a human-computer interaction interface, and the portable computer displays the data of the data glove on the human-computer interaction interface.
Further, the communication protocol adopted by the ad hoc network device and the remote ad hoc network device is a TCP/IP protocol for communication.
Further, the air pump comprises a micro inflating pump and a micro air extracting pump;
the positive and negative pressure control box comprises a positive and negative pressure driver, a positive pressure meter, a negative pressure meter and an input and output module; the positive and negative pressure driver comprises a positive pressure proportional valve, a negative pressure proportional valve, an electric control selection valve and a pulse trigger switch control module;
the miniature inflating pump and the miniature air pump are respectively connected with the positive pressure meter and the negative pressure meter, the other end of the positive pressure meter is connected with the positive pressure electromagnetic proportional valve, the other end of the negative pressure meter is connected with the negative pressure electromagnetic proportional valve, the output air pipes of the positive pressure electromagnetic proportional valve and the negative pressure electromagnetic proportional valve are connected with the electric control selector valve, the control lines of the positive pressure electromagnetic proportional valve and the negative pressure electromagnetic proportional valve are connected with the input and output module, the signal line of the pulse trigger switch control module is connected with the input and output module, the power line of the electric control selector valve is connected with the pulse trigger control module, and the output air pipe of the electric control selector valve is connected with the corrugated pipe actuator.
And the power supply is used for supplying power to the micro inflating pump, the micro air suction pump and the input and output module.
Furthermore, the input/output module comprises a plurality of output pins, every two output pins are connected with a positive/negative pressure driver, and an output air pipe of each positive/negative pressure driver is connected with an actuator.
Further, the input/output module includes ten AI channels and ten AO channels.
Furthermore, the device comprises a first palm and a second palm, wherein the first palm and the second palm are connected through a palm rotating connection part to form a revolute pair, and a thumb and the first palm are connected through a thumb rotating connection part to form a revolute pair;
the first palm and the second palm are respectively provided with a palm center side and a back side; the palm rotary connecting part comprises a rotating shaft, a corrugated pipe driver actuator and two tension springs, the palm I and the palm II are hinged through the rotating shaft, two ends of the corrugated pipe driver actuator are respectively connected with the back sides of the palm I and the palm II through fixing parts, the two tension springs are located on two sides of the corrugated pipe driver actuator, and two ends of the two tension springs are respectively fixed on the back sides of the palm I and the palm II; the two ends of the actuator of the corrugated pipe driver are sealed, and an air pipe is connected to the actuator;
the thumb rotating connection part comprises a rotating shaft, a corrugated pipe driver actuator and two tension springs, the thumb is hinged with the first palm through the rotating shaft, two ends of the corrugated pipe driver actuator are respectively connected with the back sides of the thumb and the first palm through fixing parts, the two tension springs are located on two sides of the corrugated pipe driver actuator, and two ends of the two tension springs are respectively fixed on the thumb and the back side of the first palm; the two ends of the actuator of the corrugated pipe driver are sealed, and an air pipe is connected to the actuator;
the thumb comprises a connecting knuckle, a first knuckle and a second knuckle; the connecting knuckle is used for being connected with a corrugated pipe driver actuator and two tension springs of the rotary connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with a corrugated pipe driver actuator, two ends of the corrugated pipe driver actuator are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of the corrugated pipe driver actuator are sealed, and an air pipe is connected to the two ends of the corrugated pipe driver actuator.
Furthermore, at least one finger structure is connected to each of the first palm and the second palm; the finger structure comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the palm through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; a corrugated pipe driver actuator is arranged between the first knuckle and the palm, and two ends of the corrugated pipe driver actuator are respectively connected with the first knuckle and the palm through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe driver actuator is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe driver actuator are connected with the first knuckle and the second knuckle through fixing pieces respectively; both ends of the two corrugated pipe driver actuators are sealed, and air pipes are connected to the two corrugated pipe driver actuators.
In addition, the invention also provides a control method of the bionic hand system, which is characterized by comprising the following steps:
s1, acquiring angle data of each joint of a human hand through the data glove and sending the angle data to the portable computer, converting the data into a control instruction through the portable computer, sending the control instruction to the far-end ad hoc network equipment through the near-end ad hoc network equipment, and communicating the far-end ad hoc network equipment through the input and output module; meanwhile, the portable computer displays the data of the data glove on a human-computer interaction interface;
s2, when the data glove acquires that the hand of the operator does not move or does not move slightly, the human-computer interaction interface displays that the hand angle is zero, and the control instruction sent by the portable computer is as follows: the positive pressure proportional valve input signal voltage of the corresponding driver is 0, and the negative pressure proportional valve inputs a certain signal voltage; the positive-pressure electromagnetic proportional valve does not work, the negative-pressure proportional valve outputs certain negative pressure, the pulse trigger switch control module outputs low level, the electric control selection valve is not switched on and outputs negative pressure, the interior of a corrugated pipe actuator of the rigid-flexible bionic hand is negative pressure, the actuator contracts, and the rigid-flexible bionic hand is opened;
s3, when the data glove acquires that the angle of a certain joint of the hand of an operator is larger than a certain threshold value, the angle is used as a control signal and transmitted to the input and output module through the ad hoc network equipment, the input and output module controls the positive pressure electromagnetic proportional valve to output positive pressure with a corresponding proportion, the negative pressure proportional valve does not work, meanwhile, the pulse trigger switch control module is controlled to output high level, the electric control selector valve is switched on and outputs the positive pressure, the bellows actuator of the joint corresponding to the rigid-flexible bionic hand is in the positive pressure, the actuator bends and expands, and the rigid-flexible bionic hand performs corresponding actions;
and S4, when the data glove acquires that the operator finishes the previous action and restores the initial state of the hand, the portable computer sends a control instruction which is used as a control signal and transmitted to the input and output module through the ad hoc network equipment, the input and output module controls the electric control selector valve to be disconnected again, the output of the corrugated pipe actuator is switched to negative pressure, and the rigid and flexible bionic hand is also restored to the initial state rapidly to wait for the next action.
Compared with the prior art, the bionic hand system and the control method have the remarkable advantages that:
the bionic hand system and the control method realize remote communication by building ad hoc network equipment based on a TCP/IP protocol, so that an operator can remotely operate the bionic hand to execute tasks in a safe environment far away from danger, thereby ensuring life safety and further improving the safety of man-machine interaction;
the bionic hand system and the control method realize positive pressure proportional control through the electromagnetic proportional valve and the input and output module, so that the action precision of the bionic hand is improved, meanwhile, the bionic hand is driven and controlled by negative pressure to quickly restore the original state, so that the next task action can be quickly switched to, the response speed of the bionic hand is improved, in addition, the control system can be arbitrarily expanded according to the freedom degree and the actual application control requirement of the bionic hand, so that the independent control of any freedom degree is realized, the dexterity of the control of the bionic hand is improved, and meanwhile, the control mode is simple and has stronger expandability;
the bionic hand system and the control method collect hand angle data through the data glove and display the hand angle data on the programmed human-computer interaction interface, and the bionic hand system and the control method are simple in implementation mode and good in human-computer interaction friendliness.
Drawings
FIG. 1 is a front view of a stiff and flexible bionic hand according to the present invention;
FIG. 2 is a rear view of a stiff and flexible bionic hand according to the invention;
FIG. 3 is an oblique view of a rigid-flexible bionic hand proposed by the present invention;
FIG. 4 is a front view of the rigid-flexible bionic hand grip of the present invention during operation;
FIG. 5 is a schematic view of an angle of the rigid-flexible bionic hand grip of the present invention;
FIG. 6 is a schematic view of another angle for the rigid-flexible bionic hand grip proposed by the present invention;
FIG. 7 is a schematic view of the palm portion of a rigid-flexible bionic hand proposed by the present invention;
FIG. 8 is a diagram of the operation of the rigid-flexible bionic hand actuator according to the invention during inflation;
FIG. 9 is a schematic view of a bionic hand control system of the present invention;
FIG. 10 is a schematic diagram of the positive and negative pressure drive control of the present invention;
FIG. 11 is a schematic diagram of multiple degrees of freedom independent control of a rigid-flexible biomimetic hand of the present invention;
fig. 12 is a flowchart of the bionic hand control method of the present embodiment.
In the figure, 1, a middle finger, 2, a ring finger, 3, a little finger, 4, a second palm, 5, a second tension spring, 6, a palm rotating connecting part, 7, a base, 8, a thumb rotating connecting part, 9, a first tension spring, 10, a first palm, 11, a thumb, 12, an index finger, 13, a boss,
100. the system comprises an operator 200, a main control end 300, a rigid-flexible bionic hand 400, a slave control end 21, a data glove 22, a portable computer 23, a human-computer interaction interface 24, a near-end ad hoc network device 31, a corrugated pipe driver 41, an air pump 42, a power supply 43, a positive and negative pressure control box 44, a far-end ad hoc network device 411, a micro air pump 412, a micro air suction pump 403, a positive pressure meter 404, a negative pressure meter 406, an input and output module 407, a positive pressure electromagnetic proportional valve 408, a negative pressure electromagnetic proportional valve 409, a pulse trigger switch control module 410, an electronic control selector valve 421 and a positive and negative pressure driver.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1 to 8, the invention provides a rigid-flexible bionic hand, which comprises a first palm 10 and a second palm 4, wherein the first palm 10 and the second palm 4 are connected through a first palm rotating connection part 6 to form a revolute pair, and a thumb 11 and the first palm 10 are connected through a thumb rotating connection part 8 to form a revolute pair;
and at least one finger structure is connected to each of the first palm 10 and the second palm 4.
In some embodiments provided herein, the first palm 10 and the second palm 4 have a palm side and a back side, respectively; the palm rotating connection part 6 comprises a rotating shaft, a corrugated pipe driver and two first tension springs 5, the palm I10 and the palm II 4 are hinged through the rotating shaft, two ends of the corrugated pipe driver are respectively connected with the back sides of the palm I10 and the palm II 4 through fixing parts, the two first tension springs 5 are located on two sides of the corrugated pipe driver, and two ends of the two first tension springs 5 are respectively fixed on the back sides of the palm I10 and the palm II 4; the two ends of the corrugated pipe driver are sealed, and an air pipe is connected to the corrugated pipe driver. The air pipe is used for inflating or exhausting the corrugated pipe driver to extend or shorten the corrugated pipe driver. The two tension springs I5 are used for providing tension to enable the palm I10 and the palm II 4 to reset.
In some embodiments provided by the present invention, the thumb rotation connection part 8 includes a rotation shaft, a bellows driver and two second tension springs 9, the thumb 11 is hinged to the first palm 10 through the rotation shaft, two ends of the bellows driver are respectively connected to the back sides of the thumb 11 and the first palm 10 through fixing parts, the two second tension springs 9 are located at two sides of the bellows driver, and two ends of the two second tension springs 9 are respectively fixed to the thumb 11 and the back side of the first palm 10; the two ends of the corrugated pipe driver are sealed, and an air pipe is connected to the corrugated pipe driver. The air pipe is used for inflating or exhausting the corrugated pipe driver to extend or shorten the corrugated pipe driver. The two second tension springs 9 are used for providing tension to enable the thumb 11 to reset.
In some embodiments provided herein, the thumb 11 includes a connecting knuckle, a first knuckle, and a second knuckle; the connecting knuckle is used for being connected with a corrugated pipe driver and two tension springs of the rotary connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with corrugated pipe drivers, two ends of each corrugated pipe driver are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of each corrugated pipe driver are sealed, and air pipes are connected to the two ends of each corrugated pipe driver. The air pipe is used for inflating or exhausting the corrugated pipe driver to extend or shorten the corrugated pipe driver. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the present invention, the first palm 10 and the second palm 4 are both provided with a boss, and the first palm 10 and the second palm 4 are both connected to the finger structure through the boss.
In some embodiments provided by the present invention, two finger structures are connected to the palm one 10, and the two finger structures are the index finger 12 and the middle finger 1; forefinger 12 is the same with middle finger 1 structure, and forefinger 12 includes first knuckle and second knuckle, and first knuckle is articulated through pivot and the boss on the palm 10, the torsional spring is established to the cover in the pivot, is equipped with the aperture in second knuckle and the first knuckle, and the both ends of torsional spring insert the aperture of second knuckle and first knuckle respectively.
A corrugated pipe driver is arranged between the first knuckle and the first palm 10, and two ends of the corrugated pipe driver are respectively connected with the first knuckle and the first palm 10 through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe driver is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe driver are connected with the first knuckle and the second knuckle through fixing pieces respectively; two ends of the two corrugated pipe drivers are sealed, and air pipes are connected to the two corrugated pipe drivers. The air pipe is used for inflating or exhausting the corrugated pipe driver to extend or shorten the corrugated pipe driver. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the present invention, the second palm 4 connects two finger structures, which are ring finger 2 and little finger 3; the ring finger 2 and the little finger 3 have the same structure, the ring finger 2 comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the second palm 4 through a rotating shaft, a corrugated pipe driver is arranged between the first knuckle and the second palm 4, and two ends of the corrugated pipe driver are respectively connected with the first knuckle and the second palm 4 through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle;
a corrugated pipe driver is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe driver are respectively connected with the first knuckle and the second knuckle through fixing pieces; both ends of the two corrugated pipe drivers are sealed, and air pipes are connected to the two corrugated pipe drivers. The air pipe is used for inflating or exhausting the corrugated pipe driver to extend or shorten the corrugated pipe driver. The torsion spring is used for driving the second finger section to reset.
In some embodiments provided by the invention, the device further comprises a base 7, and the palm I10 is fixed on the base 7 through bolts.
In this embodiment, the bionic hand presents the advantage of just gentle coupled structure, has rigid structure and flexible construction concurrently, and the rigid portion can provide sufficient rigidity, and the flexible portion is used for the drive of bionic hand, aerifys through the bellows driver to finger and palm, thereby makes its crooked action of grabbing that realizes the bionic hand, and flexible drive has better compliance than rigid drive, has better adaptability to non-structural, fragile class object.
In this embodiment, the bionic hand of the present invention has 11 degrees of freedom in total, and has better dexterity, including: the thumb 11 has a bending degree of freedom, the other four fingers respectively have two bending degrees of freedom, the thumb 11 and the palm I10 form a palm-finger degree of freedom at the rotary joint 8, the two parts of the palm form a rotary degree of freedom, so that objects such as balls and bottles can be conveniently grabbed, and the grabbing mode is diversified.
The bionic hand has simple structure, simple and reliable connection of all parts and stronger replaceability; and the structure can be adjusted into a three-finger structure and a four-finger structure according to the actual application requirements, so that the expandability and the mobility are stronger.
In this embodiment, when the bionic hand is not in operation, the bellows driver corresponding to each degree of freedom has an initial bending angle due to the height difference between the two fixing bases, the torsion springs on the rotating joints of the five bionic fingers are in a natural state, and the first tension spring 9 and the second tension spring 5 are in a natural state.
Referring to fig. 4 to 6, when a certain amount of gas is filled into the bellows driver corresponding to each degree of freedom, so that the internal gas pressure is increased, the bellows driver expands along the initial angle to bend, so that the fingers of the bionic hand bend, the thumb 11 and the second palm 4 rotate toward the palm center by a certain angle, and thus all degrees of freedom act, the bionic hand is in a grabbing state, and meanwhile, the first tension spring 9 and the second tension spring 5 are stressed to extend. When the air pressure is removed, the thumb 11 and the palm II 4 respectively return to the natural state under the tension of the first tension spring 9 and the second tension spring 5. Fig. 9 is an operation state diagram of the rigid-flexible bionic hand actuator of the present embodiment when not inflated, and fig. 10 is an operation state diagram when inflated.
The 11 degrees of freedom of the rigid-flexible bionic hand can be respectively and independently controlled, so that the bionic hand can complete various gesture actions, and various dexterous tasks are completed. When drivers corresponding to the two degrees of freedom of the thumb, the palm and finger degrees of freedom and the index finger are filled with certain air pressure, the corresponding corrugated pipe driver expands and bends, the drivers corresponding to the other degrees of freedom extract air, so that the corresponding corrugated pipe driver contracts and extends, and simultaneously, the rigidity is high, so that the thumb and the index finger of the bionic hand bend for a certain angle, the palm and finger joints rotate for a certain angle, and the other three fingers keep the extending state, so that the bionic hand presents 'OK' gesture action.
Referring to fig. 9, the present invention provides a bionic hand control system, which comprises a master control end 200, a rigid-flexible bionic hand 300 and a slave control end 400.
The hand of the operator 100 wears the data glove 21, the master control end 200 and the slave control end 400 are connected with the remote ad-hoc network device 44 through the near-end ad-hoc network device 24 to form a data communication link, and the rigid-flexible bionic hand 300 is connected with an output air pipe of the positive and negative pressure control box 43 in the slave control end.
The data glove 21 is used for collecting the bending angle data of each joint of the hand of the operator 100 in real time, and the data is used as a control signal, so that the control is simple and intuitive.
The main control end 200 comprises a data glove 21, a portable computer 22 and a near-end ad hoc network device 24, wherein the data glove 21 is connected with the portable computer 22 through a USB serial port, and the near-end ad hoc network device 24 is connected with the portable computer 22 through a USB serial port.
The slave control end 400 comprises an air pump 41, a power supply 42, a positive and negative pressure control box 43 and a remote ad hoc network device 44, wherein the air pump 41 is connected with the positive and negative pressure control box 43, the power supply 42 is connected with the air pump 41, the positive and negative pressure control box 43 and the remote ad hoc network device 44, and the positive and negative pressure control box 43 is connected with the remote ad hoc network device 44 through an RS 232-RS 485 conversion line.
The data glove 21 is used for collecting data of bending of each joint of the hand of an operator in real time and transmitting the data to the portable computer 22, the portable computer 22 transmits the data to the remote ad hoc network device 44 through the near-end ad hoc network device 24, the air pump 41 is connected with the positive and negative pressure control box 43, the positive and negative pressure control box 43 receives the data of the remote ad hoc network device 44, and the air pump 41 is controlled to inflate or deflate the corrugated pipe actuator 31 of the rigid-flexible bionic hand 300 according to the data, so that the rigid-flexible bionic hand 300 is controlled.
Referring to fig. 10, in some embodiments provided by the present invention, the air pump 41 includes a micro air pump 411 and a micro air pump 412, which are respectively connected to the positive pressure meter 403 and the negative pressure meter 404, the power supply 42 is connected to the micro air pump 411, the micro air pump 412 and the input/output module 406, the other end of the positive pressure meter 403 is connected to the positive pressure electromagnetic proportional valve 407, the other end of the negative pressure meter 404 is connected to the negative pressure electromagnetic proportional valve 408, the output air pipes of the positive pressure electromagnetic proportional valve 407 and the negative pressure electromagnetic proportional valve 408 are both connected to the electronic control selection valve 410, the control lines of the positive pressure electromagnetic proportional valve 407 and the negative pressure electromagnetic proportional valve 408 are both connected to the input/output module 406, the signal line of the pulse trigger switch control module 409 is connected to the input/output module 406, the power line of the electronic control selection valve 410 is connected to the pulse trigger control module 409, and the output air pipe of the electronic control selection valve 410 is connected to the actuator 31.
In some embodiments provided by the present invention, with reference to fig. 10 and 11, the positive/negative pressure driver 421 includes a positive pressure proportional valve 407, a negative pressure proportional valve 408, an electrically controlled selection valve 410, and a pulse trigger switch control module 409, each output pin of the input/output module 406 is connected to the positive/negative pressure driver 421, and an output air pipe of the positive/negative pressure driver 421 is connected to the actuator 31.
The human-computer interaction interface 23 can display motion parameters and motion models, and the motion parameter display function is that an operator 100 can observe the motion angle of each joint of a hand in real time through the human-computer interaction interface 23, so that the operator can adjust operation actions in time according to the motion state of a bionic hand; the motion model display function is that the operator 100 can adjust the observation angle through the human-computer interaction interface 23, observe the hand motion model from different coordinate axes and angles, reduce blind spots and improve the accuracy of actions; in addition, the operator 100 can select different hand modes through the human-computer interaction interface 23, and select to adopt a 'big hand mode' or a 'small hand mode' to match the hand type of the operator, so that errors caused by the size difference of the hand type are reduced, and the human-computer interaction performance of the control system is further improved.
Preferably, the master control end 200 and the slave control end 400 communicate through two ad hoc network devices, the communication protocol adopted by the ad hoc network devices is a TCP/IP protocol, and can reliably communicate, and mechanisms such as "three-way handshake", "four-way waving", and "congestion control" in the TCP/IP protocol can accurately transmit data according to a network address, and have good timeliness, safety, accuracy, fluency, and usability.
Signals of all parts in the slave control end 400 are communicated through an input/output module 406, which adopts a Modbus protocol, and control signals are received from remote ad hoc network equipment. The micro air pump 411 and the micro air pump 412 are used as bionic hand driving air sources, and air pressure required to be output is proportionally controlled through two electromagnetic proportional valves respectively. The positive pressure output and the negative pressure output are used as the input of the electric control selection valve 410, one path of signal control pulse of the input and output module 406 triggers the switch control module 409, the positive pressure or the negative pressure output is controlled by controlling the on-off of the electric control selection valve, when the electric control selection valve 410 is switched off, the negative pressure is output to the actuator 31, and when the electric control selection valve 410 is switched on, the positive pressure is output to the actuator 31, so that the dexterity action of the bionic hand can be controlled quickly and accurately.
The invention can be connected with any number of positive and negative pressure drivers 421, thus improving the expandability of the control system. The input/output module 406 has 10 AI channels and 10 AO channels, and when a plurality of input/output modules need to be used, serial port communication can be performed in an RS485 polling manner, so that the number of occupied serial ports is reduced, and expansion is facilitated.
Referring to fig. 12, the present application provides a bionic hand control method, including the steps of:
s1, opening the bionic hand control program and the power supply 42, running the program, collecting the hand joint angle data of the operator 100 through the data glove 21 and sending the data to the portable computer 22, the portable computer 22 processing the data and then converting the data into a control instruction, sending the control instruction to the remote ad hoc network device 44 through the near-end ad hoc network device 24, and the remote ad hoc network device 44 communicating through the input/output module 406; meanwhile, the portable computer 22 displays the data of the data glove 21 on the man-machine interaction interface 23; s2, when the data glove 21 acquires that the hand of the operator 100 does not perform any movement or performs a slight movement, the human-computer interface 23 displays that the hand angles are all 0, and the portable computer 22 sends a control command of: the positive pressure proportional valve 407 of the corresponding driver inputs a signal voltage of 0, and the negative pressure proportional valve 408 inputs a certain signal voltage; the positive pressure electromagnetic proportional valve 407 does not work, the negative pressure proportional valve 408 outputs a certain negative pressure, the pulse trigger switch control module 409 outputs a low level, the electronic control selector valve 410 is not switched on, the negative pressure is output, the bellows actuator 31 of the rigid-flexible bionic hand 300 is negative pressure, the actuator is contracted, and the rigid-flexible bionic hand 300 is opened.
S3, when the data glove 21 acquires that the angle of a certain joint of the hand of the operator 100 is larger than a certain threshold value, the control signal is transmitted to the input/output module 406 through the ad hoc network device, the input/output module 406 controls the positive pressure electromagnetic proportional valve 407 to output positive pressure of a corresponding proportion, the negative pressure proportional valve 408 does not work, meanwhile, the pulse trigger switch control module 409 is controlled to output high level, the electronic control selector valve 410 is switched on to output the positive pressure, the bellows actuator 31 of the joint corresponding to the rigid-flexible bionic hand 300 is in the positive pressure state, the bellows actuator 31 bends and expands, and the rigid-flexible bionic hand 300 performs corresponding actions.
S4, when the data glove 21 acquires that the operator 100 has done the previous action and has recovered the initial state of the hand, the portable computer 22 sends a control command, and transmits the control command as a control signal to the input/output module 406 through the ad hoc network device, the input/output module 406 controls the electrically controlled selector valve 410 to be turned off again, and the output of the bellows actuator 31 is switched to negative pressure, so that the stiff and flexible bionic hand 300 also recovers to the initial state quickly and waits for the next action.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, or applied directly or indirectly to other related systems, are included in the scope of the present invention.
Claims (10)
1. A bionic hand system, characterized in that:
comprises a master control end (200), a rigid-flexible bionic hand (300) and a slave control end (400);
the master control end (200) comprises a data glove (21), a portable computer (22) and a near-end ad hoc network device (24), and the slave control end (400) comprises an air pump (41), a positive and negative pressure control box (43) and a far-end ad hoc network device (44);
the data glove (21) is used for acquiring data of bending of each joint of the hand of an operator in real time and transmitting the data to the portable computer (22), the portable computer (22) processes the data and converts the data into a control instruction, and the control instruction is transmitted to the remote ad hoc network device (44) through the near ad hoc network device (24);
the air pump (41) is connected with the positive and negative pressure control box (43), the positive and negative pressure control box (43) receives information of the remote ad hoc network equipment (44), and controls the air pump (41) to pump air or pump air to the corrugated pipe actuator (31) of the rigid-flexible bionic hand (300) according to a control instruction, so that the rigid-flexible bionic hand (300) is controlled.
2. A bionic hand system according to claim 1, wherein:
the main control end (200) further comprises a man-machine interaction interface (23), and the portable computer (22) displays the data of the data glove (21) on the man-machine interaction interface (23).
3. A bionic hand system according to claim 2, wherein:
the communication protocol adopted by the near-end ad hoc network device (24) and the far-end ad hoc network device (44) is a TCP/IP protocol for communication.
4. A bionic hand system according to claim 3, wherein:
the air pump (41) comprises a micro air pump (411) and a micro air suction pump (412);
the positive and negative pressure control box (43) comprises a positive and negative pressure driver (421), a positive pressure meter (403), a negative pressure meter (404) and an input and output module (406); the positive and negative pressure driver (421) comprises a positive pressure electromagnetic proportional valve (407), a negative pressure electromagnetic proportional valve (408), an electric control selection valve (410) and a pulse trigger switch control module (409);
the miniature inflating pump (411) and the miniature suction pump (412) are respectively connected with the positive pressure meter (403) and the negative pressure meter (404), the other end of the positive pressure meter (403) is connected with the positive pressure electromagnetic proportional valve (407), the other end of the negative pressure meter (404) is connected with the negative pressure electromagnetic proportional valve (408), the output air pipes of the positive pressure electromagnetic proportional valve (407) and the negative pressure electromagnetic proportional valve (408) are connected with the electric control selector valve (410), the control lines of the positive pressure electromagnetic proportional valve (407) and the negative pressure electromagnetic proportional valve (408) are connected with the input and output module (406), the signal line of the pulse trigger switch control module (409) is connected with the input and output module (406), the power supply (42) line of the electric control selector valve (410) is connected with the pulse trigger control module, and the output air pipe of the electric control selector valve (410) is connected with the corrugated pipe actuator (31).
5. A bionic hand system according to claim 4, wherein: the air pump further comprises a power supply (42), and the power supply (42) is used for supplying power to the micro inflating pump (411), the micro air pump (412) and the input and output module (406).
6. A bionic hand system according to claim 5, wherein: the input and output module (406) comprises a plurality of output pins, every two output pins are connected with a positive and negative pressure driver (421), and an output air pipe of each positive and negative pressure driver (421) is connected with an actuator.
7. A bionic hand system according to claim 6, wherein: the input-output module (406) includes ten AI channels and ten AO channels.
8. A bionic hand system according to claim 7, wherein:
the palm rotation connecting device comprises a first palm (10) and a second palm (4), wherein the first palm (10) and the second palm (4) are connected through a palm rotation connecting part (6) to form a revolute pair, and a thumb (11) and the first palm (10) are connected through a thumb rotation connecting part (8) to form a revolute pair;
the first palm (10) and the second palm (4) are respectively provided with a palm center side and a back side; the palm rotating connection part (6) comprises a rotating shaft, a corrugated pipe driver actuator and two tension springs, a first palm (10) and a second palm (4) are hinged through the rotating shaft, two ends of the corrugated pipe driver actuator are respectively connected with the back sides of the first palm (10) and the second palm (4) through fixing pieces, the two tension springs are located on two sides of the corrugated pipe driver actuator, and two ends of the two tension springs are respectively fixed on the back sides of the first palm (10) and the second palm (4); the two ends of the actuator of the corrugated pipe driver are sealed, and an air pipe is connected to the actuator;
the thumb rotating connection part (8) comprises a rotating shaft, a corrugated pipe driver actuator and two tension springs, the thumb (11) is hinged with the first palm (10) through the rotating shaft, two ends of the corrugated pipe driver actuator are respectively connected with the back sides of the thumb (11) and the first palm (10) through fixing parts, the two tension springs are located on two sides of the corrugated pipe driver actuator, and two ends of the two tension springs are respectively fixed on the thumb (11) and the back side of the first palm (10); the two ends of the actuator of the corrugated pipe driver are sealed, and an air pipe is connected to the actuator;
the thumb (11) comprises a connecting knuckle, a first knuckle and a second knuckle; the connecting knuckle is used for being connected with a corrugated pipe driver actuator and two tension springs of the rotary connecting part, the first knuckle is connected with the connecting knuckle, the second knuckle is hinged with the first knuckle through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; the second knuckle and the first knuckle are provided with a corrugated pipe driver actuator, two ends of the corrugated pipe driver actuator are connected with the second knuckle and the first knuckle through fixing pieces respectively, two ends of the corrugated pipe driver actuator are sealed, and an air pipe is connected to the two ends of the corrugated pipe driver actuator.
9. A bionic hand system according to claim 8, wherein:
the palm I (10) and the palm II (4) are respectively connected with at least one finger structure; the finger structure comprises a first knuckle and a second knuckle, the first knuckle is hinged with a boss on the palm through a rotating shaft, a torsion spring is sleeved on the rotating shaft, small holes are formed in the second knuckle and the first knuckle, and two ends of the torsion spring are respectively inserted into the small holes of the second knuckle and the first knuckle; a corrugated pipe driver actuator is arranged between the first knuckle and the palm, and two ends of the corrugated pipe driver actuator are respectively connected with the first knuckle and the palm through fixing pieces; the first knuckle is hinged with the second knuckle through a rotating shaft, a corrugated pipe driver actuator is arranged between the first knuckle and the second knuckle, and two ends of the corrugated pipe driver actuator are connected with the first knuckle and the second knuckle through fixing pieces respectively; two ends of the two corrugated pipe driver actuators are sealed, and air pipes are connected to the two corrugated pipe driver actuators.
10. A control method of a bionic hand system is characterized by comprising the following steps:
s1, acquiring angle data of each joint of a human hand through the data glove (21) and sending the angle data to the portable computer (22), converting the data processed by the portable computer (22) into a control instruction, transmitting the control instruction to the remote ad hoc network device (44) through the near-end ad hoc network device (24), and communicating the remote ad hoc network device (44) through the input and output module (406); meanwhile, the portable computer (22) displays the data of the data glove (21) on the man-machine interaction interface (23);
s2, when the data glove (21) acquires that the hand of the operator does not act or acts slightly, the human-computer interaction interface (23) displays that the hand angle is zero, the positive-pressure electromagnetic proportional valve (407) does not work, the pulse trigger switch control module (409) outputs low level, the electric control selection valve (410) is not switched on and outputs negative pressure, the interior of the corrugated pipe actuator (31) of the rigid-flexible bionic hand (300) is negative pressure, the actuator is contracted, and the rigid-flexible bionic hand (300) is opened;
s3, when the data glove (21) acquires that a certain joint angle of the hand of an operator is larger than a certain threshold value, the portable computer (22) sends a control instruction which is used as a control signal and is transmitted to the input/output module (406) through the ad hoc network equipment, the input/output module (406) controls the positive pressure electromagnetic proportional valve (407) to output positive pressure with a corresponding proportion, the negative pressure proportional valve (408) does not work, meanwhile, the pulse trigger switch control module (409) is controlled to output high level, the electric control selector valve (410) is switched on, and positive pressure is output, the interior of the corrugated pipe actuator (31) of the joint corresponding to the rigid-flexible bionic hand (300) is positive pressure, the actuator bends and expands, and the rigid-flexible bionic hand (300) performs corresponding actions;
s4, when the data glove (21) acquires that the operator finishes the previous action and restores the initial state of the hand, the portable computer (22) sends a control command which is used as a control signal and transmitted to the input and output module (406) through the ad hoc network equipment, the input and output module (406) controls the electric control selector valve (410) to be disconnected again, the output of the bellows actuator (31) is switched to negative pressure, so that the rigid-flexible bionic hand (300) also restores to the initial state rapidly and waits for the next action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108865.4A CN114434472A (en) | 2022-01-28 | 2022-01-28 | Bionic hand system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108865.4A CN114434472A (en) | 2022-01-28 | 2022-01-28 | Bionic hand system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114434472A true CN114434472A (en) | 2022-05-06 |
Family
ID=81371023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210108865.4A Pending CN114434472A (en) | 2022-01-28 | 2022-01-28 | Bionic hand system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114434472A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693036A (en) * | 2005-05-19 | 2005-11-09 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN109999429A (en) * | 2019-04-17 | 2019-07-12 | 上海司羿智能科技有限公司 | Hand rehabilitation training system and training method |
| CN209350253U (en) * | 2018-12-27 | 2019-09-06 | 浙江工业大学 | A kind of bionic mechanical hand |
| CN110236880A (en) * | 2019-06-12 | 2019-09-17 | 西安交通大学 | A kind of pneumatic software manipulator of the customized passive type of user |
| CN209422384U (en) * | 2018-07-06 | 2019-09-24 | 北京京成兴华医疗科技有限公司 | A kind of pneumatic joint structure and joint training aids |
| CN111906763A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Teleoperation flexible bionic hand with posture monitoring and touch feedback functions |
| CN112405577A (en) * | 2020-11-20 | 2021-02-26 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
-
2022
- 2022-01-28 CN CN202210108865.4A patent/CN114434472A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693036A (en) * | 2005-05-19 | 2005-11-09 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN209422384U (en) * | 2018-07-06 | 2019-09-24 | 北京京成兴华医疗科技有限公司 | A kind of pneumatic joint structure and joint training aids |
| CN209350253U (en) * | 2018-12-27 | 2019-09-06 | 浙江工业大学 | A kind of bionic mechanical hand |
| CN109999429A (en) * | 2019-04-17 | 2019-07-12 | 上海司羿智能科技有限公司 | Hand rehabilitation training system and training method |
| CN110236880A (en) * | 2019-06-12 | 2019-09-17 | 西安交通大学 | A kind of pneumatic software manipulator of the customized passive type of user |
| CN111906763A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Teleoperation flexible bionic hand with posture monitoring and touch feedback functions |
| CN112405577A (en) * | 2020-11-20 | 2021-02-26 | 上海交通大学 | Rigid-flexible coupled multi-degree-of-freedom humanoid dexterous hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7138981B2 (en) | Parallel haptic joystick system | |
| JP5180989B2 (en) | Method and apparatus for automatic control of a humanoid robot | |
| Hernandez-Mendez et al. | Design and implementation of a robotic arm using ROS and MoveIt! | |
| CN111645093B (en) | Force sense feedback data glove for teleoperation | |
| Ramaiah et al. | A microcontroller based four fingered robotic hand | |
| Naidu et al. | A 7 DOF exoskeleton arm: Shoulder, elbow, wrist and hand mechanism for assistance to upper limb disabled individuals | |
| Monroy et al. | Masterfinger: Multi-finger haptic interface for collaborative environments | |
| WO2019140929A1 (en) | Humanoid manipulator | |
| CN114714327A (en) | Fusion system of mechanical arm and dexterous hand and motion control method | |
| Zhou et al. | A bilateral dual-arm teleoperation robot system with a unified control architecture | |
| Reis et al. | Modeling and control of a multifingered robot hand for object grasping and manipulation tasks | |
| CN215848227U (en) | Bionic soft finger, soft manipulator and underwater operation robot | |
| CN114434472A (en) | Bionic hand system and control method | |
| Bergamasco | Force replication to the human operator: the development of arm and hand exoskeletons as haptic interfaces | |
| Gong et al. | Motion mapping from a human arm to a heterogeneous excavator-like robotic arm for intuitive teleoperation | |
| Zhao et al. | In-hand manipulation using a 3-PRS-finger-based parallel dexterous hand with bidirectional pinching capability | |
| Prabhakar et al. | Remote controlled pick and place robot | |
| Bejczy | Teleoperation: The language of the human hand | |
| KR100536537B1 (en) | Structure description method of robot, robot apparatus, and component parts of robot | |
| Salisbury | Teleoperator hand design issues | |
| Reis et al. | Kinematic modeling and control design of a multifingered robot hand | |
| Wang et al. | Design of a underactuated robotic hand with three articulated fingers | |
| Zhou et al. | Design of full-drive multi-finger dexterous hand | |
| Jie et al. | Research of teleoperation grasping control method based on three-fingered dexterous hand | |
| Liu et al. | A Novel Hole-Tendon-Approximation-Model Based Control for Humanoid Dexterous Hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |