Dexterous hand control method, device and terminal equipment

A control method and dexterous hand technology, applied in the field of dexterous hand control, can solve the problem of low control precision of dexterous hand, and achieve the effect of improving control precision and good self-adaptive ability

Active Publication Date: 2021-06-11
INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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Problems solved by technology

[0004] The purpose of the present invention is to provide a dexterous hand control method, device and terminal equipment to solve the problem of low dexterous hand control accuracy existing in the prior art

Method used

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  • Dexterous hand control method, device and terminal equipment
  • Dexterous hand control method, device and terminal equipment
  • Dexterous hand control method, device and terminal equipment

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specific Embodiment approach

[0060] Optionally, as a specific implementation of the dexterous hand control method provided in the embodiment of the present invention, the sensory input signal and the reward signal function are determined according to the grasping force error, including:

[0061] SI=K 1 e+K 2 ∫edt

[0062] Among them, SI is the sensory input signal, e is the grasping force error, K 1 、K 2 is the preset adjustment factor.

[0063] REW=K 3 e+K 4 ∫edt+K 5 u

[0064] Among them, REW is the reward signal function, K 3 、K 4 、K 5 is the preset adjustment coefficient, and u is the dexterous hand control amount corresponding to the last control cycle.

[0065] Optionally, as a specific implementation of the dexterous hand control method provided in the embodiment of the present invention, the preset brain emotion learning model includes amygdala and orbitofrontal cortex.

[0066] Input the sensory input signal, reward signal function, amygdala learning rate adjustment, and orbitofrontal...

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Abstract

The present invention provides a dexterous hand control method, device, and terminal equipment. The method includes: obtaining the real-time grasping force applied by the dexterous hand to a target object, and determining according to the real-time grasping force and the preset expected grasping force Grasping force error and grasping force error rate of change; Fuzzy control is carried out to described grasping force error and described grasping force error rate of change, obtain amygdala learning rate adjustment amount and orbitofrontal cortex learning rate adjustment amount; The grasping force error determines the sensory input signal and reward signal function; the sensory input signal, reward signal function, amygdala learning rate adjustment amount, and orbitofrontal cortex learning rate adjustment amount are input into the preset brain emotion learning model, The dexterous hand control amount is obtained, and the dexterous hand is controlled based on the dexterous hand control amount. The dexterous hand control method, device and terminal equipment provided by the present invention can improve the control precision of the dexterous hand.

Description

technical field [0001] The invention belongs to the technical field of dexterous hand control, and more specifically relates to a dexterous hand control method, device and terminal equipment. Background technique [0002] The dexterous hand is a new type of end effector with dexterity, versatility and adaptability. It can complete different grasping and manipulation tasks, and has the advantages of flexibility, anthropomorphism, and good adaptability. Logistics handling, industrial assembly, rehabilitation medicine, and intelligent manufacturing play an important role. [0003] The dexterous hand completes the preset task by performing a grasping operation on the target object. During the movement process, it is necessary to precisely control the dexterous hand to exert an appropriate amount of grasping force on the target object to ensure the reliable grasping of the target object by the dexterous hand. However, the dexterous hand control system is a nonlinear system with ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 张英坤郝存明程煜任亚恒吴立龙姚立彬赵航
Owner INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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