Upper prosthetic hand pose self-balancing control system and working method thereof

Abstract

The invention discloses an upper prosthetic hand pose self-balancing control system and a working method thereof; the system comprises a hand balancing controller and a voltage-type dual-axis inclinometer fixed on the forearm of an upper prosthetic hand, wherein the hand balancing controller is connected with a forearm rotating steering engine and a wrist pitching steering engine of the upper prosthetic hand by a serial port; and the hand balancing controller is formed by connecting an MCU (micro-programmed control unit), an analogue-digital converting circuit, a power management module and the serial port. When an arm moves, the inclinometer is used for transmitting the forearm pose variation data which are detected in real time to the controller by the analogue-digital converting circuit in the controller, the controller is used for automatically adjusting the rotation direction and the pitching angle of the forearm rotating steering engine and the wrist pitching steering engine according to an inclination angle detected by the inclinometer so that the part (between the thumb and the index finger) of the upper prosthetic hand is kept vertically upward, and the balanced and stable hand pose of the upper prosthetic hand is kept automatically even if the arm optionally moves up and down, left and right and back to forth.

Description

technical field [0001] The invention relates to an upper prosthetic limb or a robot manipulator for disabled persons, in particular to a control technology for automatically maintaining posture balance of the upper prosthetic limb hand during movement. Background technique [0002] Usually, people pick up a glass of water from the table and put it to their mouths to drink, and must keep the attitude of the water glass unchanged during the movement process, otherwise the water will spill. This is a very simple and common action for humans, but it is very difficult for robots or upper prostheses to realize. [0003] In order for the robot or upper prosthesis to complete some grasping and placing operations, it is necessary to describe the initial state of the hand (note: the so-called "state" includes two types of information, position and posture) and the target state in order to enable the hand to accurately grasp to the object and place it where it is needed in the require...

AI Technical Summary

Problems solved by technology

Trajectory planning in Cartesian space requires real-time mapping between Cartesian space and joint space, which is a computationally intensive task that often results in longer control intervals; moreover, from Cartesian space to joint space The transformation of space is pathological, it is not a one-to-one mapping; in addition, because the initial state and target state of the working object of the prosthetic hand are random, the description of the initial state and target state is still difficult to achieve, and its The description of the path state point is even more difficult

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