Control method and device of bionic hand, storage medium and electronic equipment
A control method and technology for a bionic hand are applied in the control of a bionic hand, a computer-readable storage medium, a control device for a bionic hand, and the fields of electronic equipment, and can solve the problem of high cost and power consumption of a bionic hand circuit
Active Publication Date: 2020-10-20
JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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- Application Information
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Problems solved by technology
[0007] The object of the present invention is to provide a control method of bionic hand, a control device of bionic hand, a computer-readable storage medium and electronic equipment, and then at least to a certain extent overcome the limitations and defects of the related technology caused by the circuit of bionic hand The problem of high cost and power consumption
Method used
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[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solutions have not been shown or descr...
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The embodiment of the invention discloses a control method and device of a bionic hand, a storage medium and electronic equipment, and relates to the technical field of automatic control. The method comprises the steps that according to the expected speed and the actual speed of the bionic hand, expected current needed by a finger motor is calculated; according to the expected current and locked-rotor current when the bionic hand touches a grabbed objected and the finger motor is in the locked-rotor state, a preset current threshold value is determined, and rising time when the preset currentthreshold value rises to the locked-rotor current is calculated; and according to the rising time, the grabbing time needed by grabbing the grabbed object by the bionic hand is calculated, and according to the locked-rotor current and the expected current, the duty ratio needed by driving the bionic hand to grab the grabbed object is calculated; and at the interval of the grabbing time, the fingermotor is controlled to be powered off for self locking, based on the duty ratio, fingers of the bionic hand are controlled to carry out flexion and extension motion, and the grabbed object is grabbed. According to the embodiment, the power consumption of the bionic hand is reduced.
Description
technical field [0001] Embodiments of the present invention relate to the technical field of automatic control, and in particular, relate to a method for controlling a bionic hand, a control device for a bionic hand, a computer-readable storage medium, and electronic equipment. Background technique [0002] The five-fingered bionic hand is a highly integrated and highly intelligent mechatronics system. As an end effector, it has broad application prospects in the fields of remote control of robots and medical rehabilitation of the disabled. Grasping objects through five-finger cooperation is one of the basic needs of bionic hands, and at the same time poses greater challenges to the flexibility and fineness of bionic hand manipulation. [0003] In order to enable the bionic hand to effectively grasp objects of different shapes and materials like a human hand, the usual method is to plan and control the five-finger grasping motion path and force in real time based on multi-se...
Claims
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IPC IPC(8): B25J9/16B25J15/00
CPCB25J9/1612B25J9/1651B25J9/1664B25J15/0009
Inventor 汤恩琼姚秀军桂晨光韩久琦
Owner JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD