CN117798917A

CN117798917A - Bionic hand control method and device based on pressure sensing and bionic hand

Info

Publication number: CN117798917A
Application number: CN202410043416.5A
Authority: CN
Inventors: 韩璧丞; 阿迪斯; 汪文广
Original assignee: Shenzhen Mental Flow Technology Co Ltd
Current assignee: Shenzhen Mental Flow Technology Co Ltd
Priority date: 2024-01-11
Filing date: 2024-01-11
Publication date: 2024-04-02

Abstract

The invention discloses a bionic hand control method based on pressure sensing, which comprises a plurality of fingers, and comprises the following steps: detecting a contact pressure between the finger and the contact object; and controlling the fingers to bend to an initial angle when the contact pressure is detected to be within the preset pressure range, wherein each finger corresponds to one initial angle. The bionic hand control method based on pressure sensing disclosed by the invention can solve the problem that fingers of a bionic hand are difficult to control accurately. In addition, the invention also discloses a control device of the bionic hand and the bionic hand.

Description

Bionic hand control method and device based on pressure sensing and bionic hand

Technical Field

The invention relates to the technical field of bionic hands, in particular to a bionic hand control method and device based on pressure sensing and a bionic hand.

Background

The fingers of the existing bionic hand are controlled to bend and stretch by independent driving motors, the bending angle of the fingers is determined by an electromyographic signal for controlling the bending and stretching, and the fingers automatically return to an open position after the electromyographic signal is finished. In many application scenarios, such as playing a musical instrument or typing, the fingers do not need to bend greatly, and the best action effect can be achieved by bending in a small range.

However, it is difficult for the existing bionic hand to precisely control the bending of fingers according to the electromyographic signals, which affects the accuracy and comfort of playing or typing actions. Meanwhile, excessive bending requires more bending and restoring time, which affects the efficiency of playing a musical instrument or typing.

Disclosure of Invention

The invention mainly aims to provide a bionic hand control method and device based on pressure sensing and a bionic hand, and aims to solve the problem that fingers of the bionic hand are difficult to control accurately.

In order to achieve the above object, the present invention provides a bionic hand control method based on pressure sensing, which is applied to a bionic hand, wherein the bionic hand comprises a plurality of fingers, and the bionic hand control method based on pressure sensing comprises:

detecting a contact pressure between the finger and a contact object; and

and when the contact pressure is detected to be within the preset pressure range, controlling the fingers to bend to an initial angle, wherein each finger corresponds to one initial angle.

Preferably, after detecting the contact pressure between the finger and the contact object, the bionic hand control method based on pressure sensing further comprises:

when the contact pressure is detected to be zero, a first prompt message is sent; and

controlling the finger to bend to the initial angle.

when the contact pressure is detected to be smaller than the minimum value of the preset pressure range, a second prompt message is sent;

when receiving a next electromyographic signal, judging whether the next electromyographic signal is matched with the currently bent finger;

when the next electromyographic signal is matched with the currently bent finger, controlling the currently bent finger to continue bending;

when the next electromyographic signal is not matched with the currently bent finger, controlling the currently bent finger to bend to the initial angle; and

and controlling the corresponding finger to bend according to the next electromyographic signal.

Preferably, the finger is provided with a driving motor, and the detecting the contact pressure between the finger and the contact object includes:

detecting a load current of a driving motor of the finger; and

and calculating the contact pressure according to the load current.

Preferably, the finger is provided with a pressure sensor, and the detecting the contact pressure between the finger and the contact object includes:

detecting a pressure value of a pressure sensor of the finger; and

the pressure value is taken as the contact pressure.

Preferably, before detecting the contact pressure between the finger and the contact object, the bionic hand control method based on pressure sensing further comprises:

identifying a scene mode corresponding to the received trigger information, wherein the trigger information comprises myoelectricity data, motion data and/or control instructions corresponding to specific actions, and each scene mode corresponds to a preset angle range of a plurality of fingers; and

and controlling the finger corresponding to the received electromyographic signal to bend in the scene mode, wherein the bending angle of the finger is in a corresponding preset angle range.

The invention further provides a control device of the bionic hand, the bionic hand comprises a plurality of fingers, and the control device of the bionic hand comprises:

the detection module is used for detecting the contact pressure between the finger and the contact object; and

and the first control module is used for controlling the fingers to bend to an initial angle when the contact pressure is detected to be within a preset pressure range, and each finger corresponds to one initial angle.

Preferably, the control device for a bionic hand further comprises:

the sending module is used for sending first prompt information when the contact pressure is detected to be zero; and

and the second control module is used for controlling the finger to bend to the initial angle.

The invention further provides a bionic hand which comprises a bionic hand body and the control device of the bionic hand, wherein the bionic hand body comprises a plurality of fingers, and the control device is arranged on the bionic hand body and is used for driving the fingers to bend.

Preferably, each of the fingers is provided with a drive motor, or each of the fingers is provided with a drive motor and a pressure sensor.

The technical scheme of the invention is as follows: in the process of controlling the finger to bend, the contact pressure between the finger and the contact object is detected in real time, and the movement of the finger is continuously controlled according to the contact pressure, so that the movement of the finger can be controlled more accurately according to the force of pressing the contact object by the finger. When the contact pressure is detected to be within the preset pressure range, the condition that the force of pressing the contact object by the finger is proper is indicated, the finger is controlled to restore to the initial angle after the pressing action is completed in a standard manner, and the accurate control of the finger is realized.

Drawings

FIG. 1 is a flow chart of a bionic hand control method based on pressure sensing according to an embodiment of the invention;

FIG. 2 is a first sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention;

FIG. 3 is a second sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the present invention;

FIG. 4 is a third sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention;

FIG. 5 is a fourth sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the present invention;

FIG. 6 is a fifth sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention;

fig. 7 is a first schematic diagram of a bionic hand according to an embodiment of the present invention;

fig. 8 is a second schematic diagram of a bionic hand according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention;

fig. 10 is a schematic block diagram of a control device for a bionic hand according to a first embodiment of the invention;

fig. 11 is a schematic block diagram of a control device for a bionic hand according to a second embodiment of the invention;

fig. 12 is a schematic diagram of a first module of a bionic hand according to an embodiment of the invention;

fig. 13 is a schematic diagram of a second module of a bionic hand according to an embodiment of the invention;

fig. 14 is a schematic diagram of a third module of a bionic hand according to an embodiment of the invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1 and fig. 7 in combination, fig. 1 is a flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the present invention, and fig. 7 is a first schematic diagram of a bionic hand according to an embodiment of the present invention. The bionic hand control method based on pressure sensing is applied to the bionic hand 1, the bionic hand 1 comprises a plurality of fingers 21, and the bionic hand control method based on pressure sensing is used for controlling the fingers 21 of the bionic hand 1 to conduct bending and stretching movements. In this embodiment, the bionic hand 1 is provided with a receiving cavity 30, the bionic hand 1 is fixed on an arm (stump) of a wearer through the receiving cavity 30, and a cavity wall of the receiving cavity 30 is attached to arm muscles of the wearer. The artificial hand 1 is provided with a plurality of myoelectric electrodes (not shown) on the wall of the receiving chamber 30 for collecting action potentials generated by muscles and forming myoelectric signals of the surface of the stump.

The bionic hand 1 further comprises a control device 10 for executing a bionic hand control method based on pressure sensing, and the control device 10 is electrically connected with the myoelectric electrode. The relevant functions of the control device 10 may be implemented by one device, may be implemented by a plurality of devices together, or may be implemented by one or more functional modules in one device, which is not specifically limited herein. It will be appreciated that the above described functionality may be either a network element in a hardware device, or a software functionality running on dedicated hardware, or a combination of hardware and software, or a virtualized functionality instantiated on a platform (e.g., a cloud platform).

The bionic hand control method based on pressure sensing specifically comprises the following steps.

Step S102, detecting a contact pressure between the finger and the contact object.

In this embodiment, the control device 10 is capable of receiving myoelectric signals generated by stimulating myoelectric electrodes at the surface of the stump. The control device 10 receives the electromyographic signals sent by the electromyographic electrodes and controls the bending of the finger 21 corresponding to the electromyographic signals according to the electromyographic signals of the surface of the stump. During the movement of the finger 21, the control device 10 detects the contact pressure between the finger 21 and the contact object. Wherein the contact object is an object in contact with the finger 21.

A specific procedure of how to detect the contact pressure between the finger and the contact object will be described in detail below.

Step S104, when the contact pressure is detected to be within the preset pressure range, the finger is controlled to bend to an initial angle.

In the present embodiment, the control device 10 controls the corresponding finger 21 to bend according to the detected contact pressure. Specifically, the control device 10 controls the finger 21 to bend to a certain bending angle according to the received electromyographic signal, then the control device 10 detects the contact pressure between the finger 21 and the contact object, and then continues to control the finger 21 to bend according to the detected contact pressure. Wherein, the bending angle may represent an angle formed between an end portion of the finger 21 (corresponding to the distal phalanx) and the palm plane when the finger 21 is bent; the greater the angle, the higher the degree of bending of the finger 21. In some possible embodiments, the bend angle may also represent the angle formed between any portion of the finger 21 (corresponding to the middle phalanx or proximal phalanx) and the palm plane when the finger 21 is bent.

When the contact pressure is detected to be within the preset pressure range, the control device 10 controls the finger 21 to bend to the initial angle. Specifically, the preset pressure range is a standard pressure range for judging whether the motion of the finger 21 is effective. When the contact pressure is within the preset pressure range, indicating that the contact pressure between the finger 21 and the contact object is proper, the movement of the finger 21 is an effective movement, the control device 10 controls the finger 21 to stop bending while controlling the finger 21 to bend to the initial angle. Each finger 21 corresponds to an initial angle, which is a preset bending angle of the finger 21 when no corresponding electromyographic signal is received. The specific numerical range of the preset pressure range may be set according to an actual application scenario, which is not limited herein. The initial angle may be preset by the wearer according to the usage habit or personal preference, or may be generated by analyzing and extracting myoelectricity data and curvature data corresponding to multiple training, which is not limited herein.

For example, when the initial angles of all the fingers 21 are 0 ° and all the fingers 21 are at the initial angles, the bionic hand 1 is in the unfolded state. When the control device 10 controls the index finger to bend to a certain bending angle, such as 10 deg., according to the received electromyographic signals. After that, the control device 10 detects the contact pressure between the index finger and the contact object, and when detecting that the contact pressure between the index finger and the contact object is within the preset pressure range, the control device 10 controls the index finger to bend to a bending angle of 0 °, i.e., an initial angle.

In the technical scheme of the embodiment, the contact pressure between the finger and the contact object is detected in real time in the process of controlling the finger to bend, and the movement of the finger is continuously controlled according to the contact pressure, so that the movement of the finger can be controlled more accurately according to the force of pressing the contact object by the finger. When the contact pressure is detected to be within the preset pressure range, the condition that the force of pressing the contact object by the finger is proper is indicated, the finger is controlled to restore to the initial angle after the pressing action is completed in a standard manner, and the accurate control of the finger is realized.

Referring to fig. 2 in combination, a first sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention is shown. Before executing step S102, the bionic hand control method based on pressure sensing further includes the following steps.

Step S202, identifying a scene mode corresponding to the received trigger information.

The control device 10 receives the trigger information and recognizes the trigger information to obtain a scene mode corresponding to the trigger information. The control device 10 may control the bionic hand 1 to enter a corresponding scene mode. Each scene mode corresponds to a preset angle range of the plurality of fingers 21, and the preset angle range is used for limiting the bending angle of the fingers 21 when bending.

In this embodiment, the trigger information includes myoelectricity data, motion data and/or control instructions corresponding to the specific actions. The trigger information may be any one of myoelectricity data, motion data and a control instruction, or may be a combination of any two or more of myoelectricity data, motion data and a control instruction. The specific motion may be a specific gesture motion, such as a motion of making two continuous fist making and opening motions by all fingers 21 of the bionic hand 1, a motion of making a rapid bending and opening motion by a single specific finger 21 of the bionic hand 1 multiple times, and a motion of rotating the wrist of the bionic hand 1. The wearer can generate myoelectricity data by making specific gesture actions to serve as trigger information; the wearer can generate motion data by making specific gesture actions to serve as trigger information; the wearer may also send control instructions via an external device as trigger information.

Specifically, the control device 10 is capable of receiving the myoelectric signals generated by the myoelectric electrodes, and when the wearer makes a specific gesture, the myoelectric electrodes collect the collected myoelectric signals into myoelectric data, and send the myoelectric data as trigger information to the control device 10. The bionic hand 1 is further provided with an inertial sensor (Inertial Measurement Unit, IMU) in communication with the control device 10, and when a wearer makes a specific gesture, the inertial sensor gathers the acquired data into motion data, and sends the motion data to the control device 10 as trigger information. The control device 10 is also in communication with an external device, which sends control instructions as trigger information to the control device 10 when the wearer generates control instructions via the external device.

In some embodiments, identifying the scene mode corresponding to the received trigger information includes: when the trigger information is detected to be matched with the specific action, a scene mode corresponding to the specific action is acquired.

In this embodiment, the control device 10 performs matching recognition on the received trigger information and a specific action set in advance. When the trigger information matches a specific action, the control device 10 acquires a scene mode corresponding to the specific action. It will be appreciated that when the trigger information is myoelectric data or sports data, the control device 10 only needs to match the trigger information with a specific action for identification; when the trigger information is a control instruction, the control device 10 directly acquires a corresponding scene mode according to the control instruction. That is, the control instructions may directly control the bionic hand 1 to enter a corresponding scene mode, and each control instruction corresponds to one scene mode. The specific correspondence between the specific actions and the scene modes may be set by the wearer, which is not limited herein. The specific actions may be different from the regular daily actions performed by the biomimetic hand 1, so as to avoid the wearer from being triggered into a specific scene mode by mistake in the daily activities. The scene modes may include a playing piano scene, a typing scene, a writing scene, a grabbing scene, etc.

In this embodiment, the optimal range of flexion and extension angles, that is, the preset range of angles, when each finger 21 is bent in different scene modes can be preset. In the same scene mode, the preset angle ranges corresponding to different fingers 21 can be the same or different; in different scene modes, the preset angle ranges corresponding to the same finger 21 may be the same or different. The preset angle range may be preset by the wearer according to the use habit or personal preference, or may be generated by analyzing myoelectricity data extracted during the control training and bending data of the finger 21, and the like, which is not limited herein. However, no matter how the preset angle range is set, in one scene mode, one finger 21 corresponds to only one preset angle range.

Step S204, controlling the finger corresponding to the received electromyographic signal to bend in the scene mode.

In this embodiment, after the bionic hand 1 enters the corresponding scene mode, the control device 10 can receive the electromyographic signals generated by the electromyographic electrodes, and the control device 10 controls the finger 21 corresponding to the received electromyographic signals to bend in the current scene mode. It will be appreciated that the control device 10 may detect to which finger 21 the received electromyographic signal corresponds and then control the detected finger 21 to bend. Wherein the bending angle of the finger 21 is within a corresponding preset angle range.

For example, if the current scene mode of the bionic hand 1 is a typing scene, the initial angles of all fingers 21 in the typing scene are 0 °; the preset angle range of the index finger is 5-20 degrees, the preset angle range of the middle finger is 5-15 degrees, the preset angle range of the ring finger is 5-20 degrees, and the preset angle range of the tail finger is 5-10 degrees. When the index finger electromyographic signal is received, the control device 10 controls the index finger of the bionic hand 1 to bend from 0 DEG to 5-20 DEG; when the middle finger electromyographic signal is received, the control device 10 controls the middle finger of the bionic hand 1 to bend from 0 DEG to 5-15 DEG; when the ring finger electromyographic signals are received, the control device 10 controls the ring finger of the bionic hand 1 to bend from 0 DEG to 5-20 DEG; when the tail finger electromyographic signals are received, the control device 10 controls the tail finger of the bionic hand 1 to bend from 0 ° to a range of 5-10 °.

In the technical scheme of the embodiment, the corresponding scene mode is identified according to the received trigger data, and in the scene mode, the corresponding finger is controlled to bend from the initial angle to the corresponding preset angle range according to the received electromyographic signal, so that the finger is ensured to bend in the corresponding preset angle range, the movement of the finger can be controlled more accurately, and meanwhile, the control efficiency is improved effectively.

Please refer to fig. 3 in combination, which is a second sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the present invention. Step S102 includes the following steps.

Step S302, detecting a load current of a driving motor of the finger.

In this embodiment, the finger 21 is provided with a driving motor 211, and the driving motor 211 is used for driving the finger 21 to bend. The control device 10 is electrically connected to the driving motor 211, and the control device 10 detects a load current of the corresponding driving motor 211 during bending of the finger 21 to a preset bending angle. Wherein each finger 21 is provided with at least one drive motor 211.

Step S304, calculating the contact pressure according to the load current.

In the present embodiment, the control device 10 calculates the corresponding contact pressure from the measured load current. The process of calculating the contact pressure from the load current is substantially identical to the existing one and will not be described in detail herein.

In the technical scheme of the embodiment, the load current of the driving motor of the finger is detected, the contact pressure between the finger and the contact object can be rapidly calculated according to the magnitude of the load current, so that the pressing condition of the finger can be obtained, and the response can be rapidly carried out, so that the control efficiency of the finger is improved.

Referring to fig. 4 and fig. 8 in combination, fig. 4 is a third sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention, and fig. 8 is a second schematic diagram of a bionic hand according to an embodiment of the invention. Step S102 includes the following steps.

Step S402, detecting a pressure value of a pressure sensor of the finger.

In this embodiment, the finger 21 is provided with a pressure sensor 212, and the pressure sensor 212 is used to detect the pressure value of the corresponding finger 21. The control device 10 is in communication with the pressure sensor 212, and the control device 10 detects the pressure value of the corresponding pressure sensor 212 during bending of the finger 21 to a preset bending angle. Wherein each finger 21 is provided with a pressure sensor 212.

Step S404, the pressure value is used as the contact pressure.

In the technical scheme of the embodiment, the pressure sensor is used for detecting the contact pressure between the finger and the contact object, so that the pressing condition of the finger can be obtained simply and rapidly, the response can be performed rapidly, and the control efficiency of the finger is improved.

Please refer to fig. 5 in combination, which is a fourth sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the present invention. After executing step S104, the bionic hand control method based on pressure sensing further includes the following steps.

Step S502, when the contact pressure is detected to be smaller than the minimum value of the preset pressure range, a second prompt message is sent.

In this embodiment, when detecting that the contact pressure is smaller than the minimum value of the preset pressure range, the control apparatus 10 transmits the second prompt message. Specifically, when the contact pressure is detected to be smaller than the minimum value of the preset pressure range, the finger 21 is indicated to be slightly moved, and the finger 21 fails to reach the movement standard, the control device 10 sends a second prompt message. The second prompt information is used for prompting the wearer, so that the wearer can timely adjust the control of the bionic hand 1 according to the second prompt information. The second prompt information may be voice information, vibration information, etc.

For example, if the current scene mode of the bionic hand 1 is a single-finger playing piano scene, the control device 10 controls the index finger to bend according to the electromyographic signal, and detects that the contact pressure between the index finger and the piano key, i.e. the contact object, is smaller than the minimum value of the preset pressure range. It will be appreciated that a smaller contact pressure between the index finger and the key means that the index finger does not fully depress the key, and that the sound emitted by the key may be smaller. Accordingly, the control device 10 may control the entire bionic hand 1 to vibrate for a short time twice to prompt the wearer, assuming that the motion of the index finger is a non-standard motion.

Step S504, when the next electromyographic signal is received, judging whether the next electromyographic signal is matched with the finger which is bent currently.

In this embodiment, the wearer may send the electromyographic signal again according to the second prompt information to adjust the control of the finger 21. After the control device 10 sends the second prompt information, it is determined whether the next myoelectric signal is received. When the next electromyographic signal is received, the control device 10 determines whether the received next electromyographic signal matches the currently curved finger 21.

When the next electromyographic signal is matched with the currently curved finger, step S506 is performed; when the next electromyographic signal does not match the currently curved finger, step S508 is performed.

Step S506, controlling the currently curved finger to continue to curve.

When the next electromyographic signal matches with the currently curved finger, indicating that the wearer is adjusting the bending angle of the currently curved finger 21, the control device 10 controls the currently curved finger 21 to continue to curve, increasing the bending angle so that the contact pressure between the finger 21 and the contact object can reach the preset pressure range.

Step S508, controlling the currently curved finger to be curved to the initial angle.

When the next electromyographic signal does not match the currently curved finger, indicating that the wearer is no longer controlling the currently curved finger, but wants to control the new finger 21 to curve, the control device 10 controls the currently curved finger 21 to curve to the initial angle.

Step S510, controlling the corresponding finger to bend according to the next electromyographic signal.

In this embodiment, the control device 10 controls the finger 21 corresponding to the received next electromyographic signal to bend according to the received next electromyographic signal while controlling the currently bent finger 21 to bend to the initial angle. It will be appreciated that when the control device 10 controls the bending of the new finger 21, it is still necessary to detect the contact pressure between the new finger 21 and the contact object to adjust the control of the finger 21 in accordance with the contact pressure.

In the technical scheme of the embodiment, when the contact pressure is detected to be smaller than the minimum value of the preset pressure range, the fact that the force of pressing the contact object by the finger is insufficient is indicated, and the pressing action of the finger is not standard, the second prompt message is sent to remind a wearer to adjust. After receiving the second prompt information, the wearer can continuously control the current bending finger to continuously perform bending movement so as to apply larger pressing force to the contact object, thereby achieving standard pressing action; the fingers which are bent at present can be controlled not to be bent any more, and other fingers can be controlled to be bent, so that accurate control of the fingers can be realized.

Referring to fig. 6 in combination, a fifth sub-flowchart of a bionic hand control method based on pressure sensing according to an embodiment of the invention is shown. Step S104 further includes the following steps.

Step S602, when the contact pressure is detected to be zero, a first prompt message is sent.

In this embodiment, when the contact pressure is detected to be zero, the control device 10 transmits the first prompt message. Specifically, when the contact pressure is detected to be zero, which means that the finger 21 is not in contact with the contact object, or that the finger 21 is only in contact with the contact object surface and does not apply pressure to the contact object, the action of the finger 21 is an ineffective action, and the control apparatus 10 transmits the first prompt message. The first prompt message is used for prompting the wearer so that the wearer can know the condition of the finger 21 currently controlled and timely adjust the distance between the bionic hand 1 and the contact object. The first prompt information may be voice information, vibration information, etc., and the first prompt information is different from the second prompt information. For example, the second prompt information and the first prompt information may be different in voice content, or the second prompt information and the first prompt information may be different in vibration frequency and/or vibration frequency.

It will be appreciated that when the contact pressure between the finger 21 and the contact object is detected to be zero, the motion of the finger 21 is considered as an ineffective motion even if the bending angle of the finger 21 reaches the standard range of flexion and extension angles, which is a standard motion.

In step S604, the finger is controlled to bend to an initial angle.

In this embodiment, the control device 10 controls the finger 21 to bend to the initial angle while transmitting the first prompt information.

In the technical scheme of the embodiment, when the contact pressure is detected to be equal to zero, the fact that the finger is not pressed to the contact object is indicated, and the action of the finger is invalid, a first prompt message is sent to remind a wearer to adjust. After receiving the first prompt information, the wearer can adjust the distance between the bionic hand and the contact object and control the finger to bend again after the distance adjustment is completed, so that the finger can accurately press the contact object.

Please refer to fig. 9 in combination, which is a schematic structural diagram of a control apparatus according to an embodiment of the present invention. The invention also provides a control device 10, and the control device 10 can be a desktop computer, a notebook computer, a palm computer, a server and other computing devices. The control device 10 may include: a processor 1001 (e.g., a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory; the memory 1005 may also be a storage device separate from the aforementioned processor 1001.

It will be appreciated by those skilled in the art that the control device 10 structure shown in fig. 9 does not constitute a limitation of the control device 10, and that the control device 10 may include more or less components than illustrated, or certain components may be combined, or a different arrangement of components.

As shown in fig. 9, an operating system, a network communication module, a user interface module, and computer-executable instructions may be included in memory 1005, which is a type of computer storage medium.

In the control apparatus 10 shown in fig. 9, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; the processor 1001 may be configured to invoke computer executable instructions stored in the memory 1005, where the computer executable instructions when invoked by the processor 1001 perform the steps of the pressure sensing-based biomimetic hand control method described above.

Based on the computer executable instructions provided by the foregoing embodiments, the present invention further provides a computer readable storage medium, where the computer executable instructions are stored, and when the computer executable instructions are executed by a processor, the bionic hand control method based on pressure sensing described in the foregoing embodiments is implemented.

Referring to fig. 10 in combination, a block diagram of a control device for a bionic hand according to a first embodiment of the invention is shown. The control device 40 of the bionic hand comprises a detection module 41 and a first control module 42.

And a detection module 41 for detecting a contact pressure between the finger and the contact object.

In this embodiment, the control device 40 is capable of receiving the electromyographic signals generated by stimulating the electromyographic electrodes on the surface of the stump. The control device 40 receives the electromyographic signals transmitted from the electromyographic electrodes and controls the bending of the finger 21 corresponding to the electromyographic signals according to the electromyographic signals of the surface of the stump. During the movement of the finger 21, the detection module 41 detects the contact pressure between the finger 21 and the contact object. Wherein the contact object is an object in contact with the finger 21.

The first control module 42 is configured to control the finger to bend to an initial angle when the contact pressure is detected to be within a preset pressure range.

In this embodiment, the first control module 42 controls the corresponding finger 21 to bend according to the detected contact pressure. Specifically, the control device 40 controls the finger 21 to bend to a certain bending angle according to the received electromyographic signal, then the detection module 41 detects the contact pressure between the finger 21 and the contact object, and the first control module 42 continues to control the finger 21 to bend according to the detected contact pressure. Wherein, the bending angle may represent an angle formed between an end portion of the finger 21 (corresponding to the distal phalanx) and the palm plane when the finger 21 is bent; the greater the angle, the higher the degree of bending of the finger 21. In some possible embodiments, the bend angle may also represent the angle formed between any portion of the finger 21 (corresponding to the middle phalanx or proximal phalanx) and the palm plane when the finger 21 is bent.

When the contact pressure is detected to be within the preset pressure range, the first control module 42 controls the finger 21 to be bent to an initial angle. Specifically, the preset pressure range is a standard pressure range for judging whether the motion of the finger 21 is effective. When the contact pressure is within the preset pressure range, indicating that the contact pressure between the finger 21 and the contact object is proper, the finger 21 is effectively operated, and the first control module 42 controls the finger 21 to stop bending and simultaneously controls the finger 21 to bend to the initial angle. Each finger 21 corresponds to an initial angle, which is a preset bending angle of the finger 21 when no corresponding electromyographic signal is received. The specific numerical range of the preset pressure range may be set according to an actual application scenario, which is not limited herein. The initial angle may be preset by the wearer according to the usage habit or personal preference, or may be generated by analyzing and extracting myoelectricity data and curvature data corresponding to multiple training, which is not limited herein.

Please refer to fig. 11 in combination, which is a block diagram illustrating a control device for a bionic hand according to a second embodiment of the present invention. The control device 40 of the bionic hand further comprises a transmitting module 43 and a second control module 44.

And the sending module 43 is configured to send the first prompt message when the contact pressure is detected to be zero.

In this embodiment, when the contact pressure is detected to be zero, the sending module 43 sends the first prompt message. Specifically, when the contact pressure is detected to be zero, which indicates that the finger 21 is not in contact with the contact object, or that the finger 21 is only in contact with the surface of the contact object and does not apply pressure to the contact object, the sending module 43 sends the first prompt message if the action of the finger 21 is an invalid action. The first prompt message is used for prompting the wearer so that the wearer can know the condition of the finger 21 currently controlled and timely adjust the distance between the bionic hand 1 and the contact object. The first prompt information may be voice information, vibration information, etc.

A second control module 44 for controlling the bending of the finger to an initial angle.

In this embodiment, the second control module 44 controls the finger 21 to bend to the initial angle while the sending module 43 sends the first prompt message.

Please refer to fig. 12 in combination, which is a first module schematic diagram of a bionic hand according to an embodiment of the invention. The bionic hand 1 comprises a bionic hand body 20 and a control device 40 of the bionic hand, the bionic hand body 20 comprises a plurality of fingers 21, and the control device 40 is arranged on the bionic hand body 20 and used for driving the fingers 21 to bend.

In this embodiment, the bionic hand body 20 is provided with a receiving cavity, and a plurality of myoelectric electrodes are disposed on a cavity wall of the receiving cavity, and the control device 40 is electrically connected with the myoelectric electrodes. The bionic hand 1 is fixed on the arm (stump) of a wearer through a receiving cavity, the cavity wall of the receiving cavity is attached to the arm muscle of the wearer, and myoelectric electrodes can collect action potentials generated by the muscle to form myoelectric signals on the surface of the stump and send the myoelectric signals to the control device 40.

In some embodiments, the bionic hand 1 further includes an inertial sensor disposed on the bionic hand body 20, where the inertial sensor is communicatively connected to the control device 40, and the inertial sensor can collect motion data generated by the wearer controlling the motion of the bionic hand 1, and send the motion data to the control device 40.

In some embodiments, the control device 40 may also be communicatively coupled to an external device. The wearer may send control instructions to the control device 40 via an external device. The external device can be a terminal such as a smart phone, a tablet computer, a notebook computer, a desktop computer or a smart watch.

The specific structure of the control apparatus 10 refers to the above-described embodiment. The bionic hand 1 adopts all the technical schemes of all the embodiments, so that the bionic hand at least has all the beneficial effects brought by the technical schemes of the embodiments, and the technical schemes are not repeated here.

Please refer to fig. 13 in combination, which is a second module schematic diagram of a bionic hand according to an embodiment of the invention. The bionic hand body 20 comprises a plurality of fingers 21, and each finger 21 is provided with a driving motor 211.

In this embodiment, the driving motor 211 is used for driving the finger 21 to bend, and the driving motor 211 is electrically connected to the control device 40. Wherein each finger 21 is provided with at least one drive motor 211.

Please refer to fig. 14 in combination, which is a third module schematic diagram of a bionic hand according to an embodiment of the invention. In some embodiments, each finger 21 is provided with a drive motor 211 and a pressure sensor 212.

In this embodiment, the pressure sensor 212 is configured to detect a pressure value of the corresponding finger 21, and the pressure sensor 212 is communicatively connected to the control device 40. Wherein each finger 21 is provided with a pressure sensor 212.

The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.

Claims

1. The bionic hand control method based on pressure sensing comprises a plurality of fingers, and is characterized by comprising the following steps:

detecting a contact pressure between the finger and a contact object; and

2. The pressure sensing-based biomimetic hand control method according to claim 1, wherein after detecting the contact pressure between the finger and the contact object, the pressure sensing-based biomimetic hand control method further comprises:

controlling the finger to bend to the initial angle.

3. The pressure sensing-based biomimetic hand control method according to claim 1, wherein after detecting the contact pressure between the finger and the contact object, the pressure sensing-based biomimetic hand control method further comprises:

4. The pressure-sensing-based bionic hand control method according to claim 1, wherein the finger is provided with a driving motor, and the detecting the contact pressure between the finger and the contact object comprises:

detecting a load current of a driving motor of the finger; and

and calculating the contact pressure according to the load current.

5. The pressure sensing-based bionic hand control method according to claim 1, wherein the finger is provided with a pressure sensor, and the detecting the contact pressure between the finger and the contact object comprises:

detecting a pressure value of a pressure sensor of the finger; and

the pressure value is taken as the contact pressure.

6. The pressure sensing-based biomimetic hand control method according to claim 1, wherein before detecting the contact pressure between the finger and the contact object, the pressure sensing-based biomimetic hand control method further comprises:

7. A control device of a bionic hand, the bionic hand comprising a plurality of fingers, characterized in that the control device of a bionic hand comprises:

8. The device for controlling a simulated hand of claim 7, further comprising:

9. A bionic hand, characterized in that the bionic hand comprises a bionic hand body and the control device of the bionic hand according to claim 7 or 8, the bionic hand body comprises a plurality of fingers, and the control device is arranged on the bionic hand body and is used for driving the fingers to bend.

10. The simulated hand of claim 9 wherein each of said fingers is provided with a drive motor or each of said fingers is provided with a drive motor and a pressure sensor.