Multi-sensor based dexterous hand antagonistic type control system

A multi-sensor and control system technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of reducing the complexity and cost of sensor design, and achieve the effect of reliable control system

CN110842952AActive Publication Date: 2020-02-28NEUROCEAN TECH INC
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-02-28

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Abstract

The invention discloses a multi-sensor and antagonistic drive based dexterous hand control system. The system comprises an antagonistic driven dexterous hand in tendon transmission, a joint angle sensor, a touch sensor in bionic skin, a joint force and torque sensor, a tendon tension sensor, a sensor management module, a driver control module and a central control module. According to the system,perception modes of different levels of force and touch are effectively decoupled, various sense information can be flexibly and comprehensively analyzed under different operating tasks, the control difficulty is simplified, and design complexity and cost of each type of sensor (and the bionic skin with touch) are reduced; and through the central control module of the system, the dexterous hand can avoid excessive relaxation or tensioning of the tendon, joint damping and joint rigidity of each joint can be controlled, the compliance operation and the anti-interference performance and robustness can be taken into account, and the system can still work reliably when the joint force and torque sensor or the tendon tension sensor is partially or completely lacked or works abnormally.
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Description

technical field

[0001] The invention belongs to the field of robot dexterous hand control, in particular to a dexterous hand control system based on multi-sensor and antagonistic drive. Background technique

[0002] The bionic dexterous hand refers to a manipulator with a finger index, degree of freedom, shape and function close to that of a human hand. It can manipulate objects flexibly and delicately. It is suitable as a high-performance prosthesis, or used in industrial scenarios such as flexible assembly. It can also replace people in pollution, poisoning, Operations in hazardous environments such as radiation, as well as application to service robots with strong versatility, are key components of bionic robots or humanoid robots.

[0003] One transmission method that is widely used in many dexterous hand systems is tendon transmission. Tendon transmission is to transmit the movement and power of the driver located in the forearm to the narrow hand through the tendon (m...

Examples

Embodiment Construction

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0082] See attached figure 1 , the embodiment of the present invention discloses a dexterous hand control system based on multi-sensor and antagonistic drive, the system includes: a dexterous hand driven by tendon drive antagonistic, a sensor module 18, a sensor management module 13, a driver control module 15. The central control module 14.

[0083] The tendon-driven antagonistically actuated dexterous hand is configured as a dexterous hand having one or mor...