A prosthetic hand perception mechanism and system supporting cloud fusion

Abstract

The invention relates to a prosthetic hand sensing mechanism and system supporting cloud fusion, belonging to the technical field of biomimetic prosthetic hands. The prosthetic hand sensing mechanismcomprises a long finger part, a thumb part, four connecting blocks, a palm part and a printed circuit board. The long finger comprises four long finger mechanisms, namely, an index finger mechanism, amiddle finger mechanism, a ring finger mechanism and a pinky finger mechanism. Each long finger mechanism comprises a proximal knuckle and a middle finger, a distal phalangeal joint, a first metacarpophalangeal joint seat, and a first connector; and the thumb portion includes a proximal phalangeal segment, a distal phalangeal segment, a second metacarpophalangeal joint seat, and a second connector. The thumb portion includes a proximal phalangeal segment, a distal phalangeal segment, and a second metacarpophalangeal joint seat. Each proximal finger of the long finger mechanism is articulatedwith a connecting block; the palm part comprises a housing, a rotating driving mechanism installed in the housing and four linear driving mechanisms; and a main control module, a driving module and adata communication module are integrated on the print circuit board. The prosthetic hand sensing mechanism can make corresponding gestures according to the recognition results of the gestures recognized by the upper computer on the cloud end.

Description

technical field

[0001] The invention relates to the technical field of bionic prosthetic hands, in particular to a prosthetic hand perception mechanism and system supporting cloud fusion. Background technique

[0002] Research on artificial limbs can be applied to many fields such as high-end medical equipment, biomechanical intelligent robots, hazardous environment exploration, disaster rescue equipment, national defense equipment, and assisting the disabled in rehabilitation engineering training. Its scientific and technological achievements can radiate and have important strategic significance.

[0003] With the continuous advancement of robot technology, industrial robots and service robots have entered the era of ordinary consumers more and more frequently. So far, the hand structure of humanoid robots based on single-degree-of-freedom has been very mature, but the multi-degree-of-freedom Design and control of dexterous prosthetic hands are still lacking. Contents of...

Examples

Embodiment 1

[0051] Such as Figure 1 to Figure 11 As shown, the present embodiment provides a prosthetic hand sensing mechanism that supports cloud fusion, and the prosthetic hand sensing mechanism that supports cloud fusion includes a long finger portion, a thumb portion, four connecting blocks, a palm portion and a printed circuit board;

[0052] The long finger part includes four long finger mechanisms, which are index finger mechanism 1, middle finger mechanism 2, ring finger mechanism 3 and little finger mechanism 4. Each long finger mechanism includes proximal knuckle 5, middle finger-distal knuckle 6, first palm Knuckle seat 7 and first connecting piece 8;

[0053] For each long finger body, such as Figure 5 As shown, the proximal knuckles 5 all include two relatively long finger side plates 9 and a long finger back plate 10 connecting the two long finger side plates 9, and the two long finger side plates 9 and the long finger back plate 10 are integrated. forming;

[0054] For...

Embodiment 2

[0089] This embodiment provides a prosthetic hand sensing system that supports cloud fusion, and the prosthetic hand sensing system that supports cloud fusion includes a myoelectric signal acquisition device, a cloud host computer, and the prosthetic hand sensing mechanism in Embodiment 1;

[0090] The myoelectric signal collection device is used to wear on the user's forearm to collect the myoelectric signal generated by the user's forearm muscle group; Myoelectric signal acquisition equipment model MYO;

[0091] The cloud host computer is used to receive the myoelectric signal collected by the myoelectric signal acquisition device, and process the received myoelectric signal to obtain the gesture recognition result; the cloud host computer stores the myoelectric signal data and the gesture recognition result Mapping relationship, therefore, the cloud host computer can recognize the gesture recognition result according to the myoelectric signal collected by the myoelectric si...

technical field

[0001] The invention relates to the technical field of bionic prosthetic hands, in particular to a prosthetic hand perception mechanism and system supporting cloud fusion. Background technique

[0002] Research on artificial limbs can be applied to many fields such as high-end medical equipment, biomechanical intelligent robots, hazardous environment exploration, disaster rescue equipment, national defense equipment, and assisting the disabled in rehabilitation engineering training. Its scientific and technological achievements can radiate and have important strategic significance.

[0003] With the continuous advancement of robot technology, industrial robots and service robots have entered the era of ordinary consumers more and more frequently. So far, the hand structure of humanoid robots based on single-degree-of-freedom has been very mature, but the multi-degree-of-freedom Design and control of dexterous prosthetic hands are still lacking. Contents of...

Examples

Embodiment 1

[0051] Such as Figure 1 to Figure 11 As shown, the present embodiment provides a prosthetic hand sensing mechanism that supports cloud fusion, and the prosthetic hand sensing mechanism that supports cloud fusion includes a long finger portion, a thumb portion, four connecting blocks, a palm portion and a printed circuit board;

[0052] The long finger part includes four long finger mechanisms, which are index finger mechanism 1, middle finger mechanism 2, ring finger mechanism 3 and little finger mechanism 4. Each long finger mechanism includes proximal knuckle 5, middle finger-distal knuckle 6, first palm Knuckle seat 7 and first connecting piece 8;

[0053] For each long finger body, such as Figure 5 As shown, the proximal knuckles 5 all include two relatively long finger side plates 9 and a long finger back plate 10 connecting the two long finger side plates 9, and the two long finger side plates 9 and the long finger back plate 10 are integrated. forming;

[0054] For...

Embodiment 2

[0089] This embodiment provides a prosthetic hand sensing system that supports cloud fusion, and the prosthetic hand sensing system that supports cloud fusion includes a myoelectric signal acquisition device, a cloud host computer, and the prosthetic hand sensing mechanism in Embodiment 1;

[0090] The myoelectric signal collection device is used to wear on the user's forearm to collect the myoelectric signal generated by the user's forearm muscle group; Myoelectric signal acquisition equipment model MYO;

[0091] The cloud host computer is used to receive the myoelectric signal collected by the myoelectric signal acquisition device, and process the received myoelectric signal to obtain the gesture recognition result; the cloud host computer stores the myoelectric signal data and the gesture recognition result Mapping relationship, therefore, the cloud host computer can recognize the gesture recognition result according to the myoelectric signal collected by the myoelectric si...

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