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Bionic hand control method and device, storage medium, electronic equipment

A control method and bionic hand technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high cost and power consumption of bionic hand circuits, and achieve the effect of reducing circuit costs and power consumption

Active Publication Date: 2022-02-01
JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Bionic hand control method and device, storage medium, electronic equipment
  • Bionic hand control method and device, storage medium, electronic equipment
  • Bionic hand control method and device, storage medium, electronic equipment

Examples

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Embodiment Construction

[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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PUM

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Abstract

The embodiment of the present invention relates to a bionic hand control method and device, storage medium, and electronic equipment, and relates to the field of automatic control technology. The method includes: calculating the expected current required by the finger motor according to the expected speed and actual speed of the bionic hand ;According to the expected current and when the bionic hand touches the grasped object, the finger motor has a locked-rotor current when it is in a locked-rotor state, determine the preset current threshold, and calculate when the preset current threshold rises to the locked-rotor current , the required rise time; calculate the grasping time required for the bionic hand to grasp the grasped object according to the rise time, and calculate the duty cycle required to drive the bionic hand to grasp the grasped object; when the grasping time After the timing length is reached, the finger motor is controlled to power off and self-lock, and based on the duty cycle, the fingers of the bionic hand are controlled to perform flexion and extension movements to grasp the object to be grasped. The embodiment of the present invention reduces the power consumption of the bionic hand.

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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Application Information

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Patent Type & Authority Patents(China)
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