Mouse-operated prosthetic hand for amputees and control method

Abstract

The application relates to the technical field of robots, in particular to a mouse-operated prosthetic hand for amputees and a control method, wherein the prosthetic hand comprises: a synchronous belt for rolling the scroll wheel of a target mouse; two simulated fingers respectively arranged on the two sides of the synchronous belt and used for clicking the left and right keys of the target mouse; a clamping claw arranged below the synchronous belt and the two simulated fingers and used for clamping the target mouse to generate a moving track; a simulated palm internally provided with a driving device and used for controlling the rotation of the synchronous belt, the bending of the two simulated fingers and the opening or closing of the clamping claw; a prosthetic interface connected with the other end of the simulated palm and internally provided with a signal acquisition device, the signal acquisition device is used for being connected with the arm of an amputee, acquiring real-time action signals of the amputee and transmitting the real-time action signals to the driving device so that any one of the synchronous belt, the two simulated fingers and the clamping claw performs a corresponding action. Therefore, the problems that the existing prosthetic hand cannot enable the upper limb amputee to grip and operate a mouse are solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a mouse-operated prosthetic hand and control method for amputees. Background Technology

[0002] For amputees, interacting with a computer using their own signals offers significant advantages in terms of reducing operator fatigue and improving intuitiveness. Based on extensive research and experiments with amputees, it was found that enabling amputees to operate a mouse smoothly and continuously remains a challenge.

[0003] Currently, the main human body signals include electroencephalogram (EEG), electrooculogram (EOG), and electromyogram (EMG). EEG signals offer advantages such as high temporal resolution and non-invasiveness, but are susceptible to noise interference and have relatively low spatial resolution. EMG signals boast high sensitivity, but are specific, only recording the activity of muscles in direct contact with the electrodes, making it difficult to distinguish the activity of multiple muscles. OMG signals capture visual information, but require costly equipment, and the collected data has certain limitations.

[0004] In terms of mouse operation, the basic operations of a computer mouse can be divided into two main types: continuous operation (cursor movement) and discrete operation (click / scroll).

[0005] Currently, the mainstream method for mouse operation for amputees is to use human body signals to directly control the computer cursor, bypassing the intermediate medium of the prosthetic hand and the physical mouse. Most existing mouse cursor control methods use pattern recognition technology to associate different hand movements with predefined cursor movements, converting continuous movements into discrete movements with a fixed cursor direction. Although this method can accomplish simple mouse operations to some extent, it cannot replicate all the functions of the human hand and has significant limitations in practical use.

[0006] In order to provide a more effective solution, there is an urgent need to develop a prosthetic hand with mouse operation capabilities, enabling them to perform computer-based tasks and activities. Summary of the Invention

[0007] This invention provides a mouse-operated prosthetic hand and control method for amputees, to solve the problem that existing prosthetic hands cannot enable upper limb amputees to grasp and operate a mouse.

[0008] A first aspect of the present invention provides a mouse-operated prosthetic hand for amputees, comprising: a timing belt for scrolling a target mouse wheel; a first simulated finger and a second simulated finger, respectively disposed on opposite sides of the timing belt, for clicking the left and right buttons of the target mouse; a gripper disposed below the timing belt, the first simulated finger, and the second simulated finger, for gripping the target mouse to generate a movement trajectory; a simulated hand, wherein a driving device is provided inside the simulated hand, one end of the simulated hand is connected to the timing belt, the first simulated finger, the second simulated finger, and the gripper, for controlling the rotation of the timing belt, the bending of the first simulated finger and the second simulated finger, and the opening or closing of the gripper via the driving device; and a prosthetic interface, wherein a signal acquisition device is provided inside the prosthetic interface, the prosthetic interface is connected to the other end of the simulated hand, and the signal acquisition device is connected to the driving device for connecting to the amputee's arm, acquiring the amputee's real-time motion signals, and transmitting the real-time motion signals to the driving device, causing any one of the timing belt, the first simulated finger, the second simulated finger, and the gripper to perform a corresponding action.

[0009] Optionally, the drive device includes a first linear motor, a second linear motor, a first servo motor, and a second servo motor, wherein...

[0010] The first linear motor and the second linear motor control the bending of the first simulated finger and the second simulated finger respectively through a line drive, so as to achieve the clicking of the left and right buttons of the target mouse;

[0011] The first servo motor controls the timing belt via gears to achieve the scrolling of the target mouse wheel;

[0012] The second servo motor controls the opening and closing of the gripper via a wire drive to grasp the target mouse and move it on the desktop.

[0013] Optionally, the first and second simulated fingers are made of soft rubber material. By setting an asymmetrical structure at the joints, the first and second simulated fingers can perform bending movements under the tension of the first and second linear motors driven by the linear motors.

[0014] Optionally, the two sides of the gripper are wrapped clockwise with nylon thread on a cable reel. When the second servo rotates clockwise, the gripper opens and places the target mouse inside the gripper. When the second servo rotates counterclockwise, the gripper closes and envelops the target mouse inside the gripper.

[0015] Optionally, the signal acquisition device includes:

[0016] A preset sensor is installed on the arm of the amputee patient to collect multiple human data and construct a training set, wherein the human data is any one or more of electromyography signals, electroencephalography signals and eye movement signals;

[0017] A training module, which is connected to the preset sensor, is used to train a pre-built action classification model using the training set to obtain an action recognition model.

[0018] A monitoring and acquisition module, which is connected to the training module, is used to collect real-time human body data and input it into the action recognition module, and to monitor the action recognition module using a continuous decision window to obtain real-time action signals.

[0019] Optionally, the preset sensor includes:

[0020] The selection unit is used to select three easily distinguishable actions, corresponding to left-click, right-click, and scroll wheel in mouse operations;

[0021] The acquisition unit is used to control the driving device to make the amputee patient repeat each action a preset number of times, and each action lasts for a preset duration, so as to acquire the multiple human body data and construct the training set.

[0022] A second aspect of the present invention provides a control method for a mouse-operated prosthetic hand for amputees, comprising the following steps: connecting the mouse-operated prosthetic hand for amputees to the amputee's arm; driving a simulated hand drive a timing belt, a first simulated finger, a second simulated finger, and a gripper to perform a predetermined number of prescribed actions to train a signal acquisition device for the prosthetic interface, wherein the prescribed actions are three easily distinguishable actions corresponding to left-click, right-click, and scroll wheel in mouse operation; acquiring real-time motion signals of the amputee's arm using the trained signal acquisition device; and controlling the driving device according to the real-time motion signals to cause any one of the timing belt, the first simulated finger, the second simulated finger, and the gripper to perform a corresponding action.

[0023] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the mouse-operated prosthetic hand control method for amputees as described in the above embodiments.

[0024] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described mouse-operated prosthetic hand control method for amputees.

[0025] The mouse-operated prosthetic hand and control method for amputees proposed in this invention embodiment allows amputees to continuously move the mouse in a two-dimensional plane to perform operations, realizing the transformation from single action input to multiple mouse operation outputs, and enabling various mouse operation tasks such as copying and pasting, opening nested folders, browsing web pages, and dragging multiple files to a specified folder.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is an overall structural diagram of a mouse-operated prosthetic hand for amputees provided according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of a single-finger click process provided according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of gripper grasping according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram showing the placement of the electromyography (EMG) signal sensor provided in an embodiment of the present invention on the arm of an amputee patient.

[0032] Figure 5 This is a flowchart of a signal acquisition device processing according to an embodiment of the present invention;

[0033] Figure 6 This is a flowchart of a decision window-based post-processing procedure provided according to an embodiment of the present invention;

[0034] Figure 7 A flowchart illustrating a mouse-operated prosthetic hand control method for amputees according to an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 100- Mouse-operated prosthetic hand for amputees, 1- Synchronization belt, 2- First simulated finger, 3- Second simulated finger, 4- Gripper, 5- Simulated palm, and 6- Prosthetic interface. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] The following description, with reference to the accompanying drawings, describes an embodiment of the present invention: a mouse-operated prosthetic hand for amputees and its control method.

[0040] Specifically, Figure 1 This is an overall structural diagram of a mouse-operated prosthetic hand for amputees provided in an embodiment of the present invention.

[0041] like Figure 1 As shown, the mouse-operated prosthetic hand 100 for amputees includes: a timing band 1, a first simulated finger 2, a second simulated finger 3, a gripper 4, a simulated hand 5, and a prosthetic interface 6.

[0042] The system comprises the following components: a synchronization belt 1 for scrolling the target mouse wheel; a first simulated finger 2 and a second simulated finger 3, positioned on either side of the synchronization belt 1 for clicking the left and right buttons of the target mouse; a gripper 4, located below the synchronization belt 1, the first simulated finger 2, and the second simulated finger 3, for gripping the target mouse and moving it across the desktop to generate a movement trajectory; a simulated hand 5, containing a drive mechanism, with one end connected to the synchronization belt 1, the first simulated finger 2, the second simulated finger 3, and the gripper 4, for controlling the rotation of the synchronization belt 1, the bending of the first and second simulated fingers 2 and 3, and the opening or closing of the gripper 4 via the drive mechanism; and a prosthetic interface 6, containing a signal acquisition device, connected to the other end of the simulated hand 5, and connected to the drive mechanism, for connecting to the amputee's arm to acquire real-time motion signals from the amputee and transmit these signals to the drive mechanism, enabling any one of the synchronization belt 1, the first simulated finger 2, the second simulated finger 3, and the gripper 4 to perform a corresponding action.

[0043] In some embodiments, such as Figure 2 As shown, the first simulated finger 2 and the second simulated finger 3 are both made of soft rubber material. By setting an asymmetrical structure at the joint, the first simulated finger 2 and the second simulated finger 3 can perform bending movements under the tension of the first linear motor and the second linear motor driven by the line.

[0044] In some embodiments, the driving device includes a first linear motor, a second linear motor, a first servo motor, and a second servo motor. The first linear motor and the second linear motor control the bending of the first simulated finger 2 and the second simulated finger 3 respectively via line drive to achieve clicking the left and right buttons of the target mouse. The first servo motor controls the synchronous belt via gears to achieve scrolling of the target mouse wheel. The second servo motor controls the opening and closing of the gripper 4 via line drive to achieve gripping the target mouse and moving it on the desktop.

[0045] In some embodiments, the two sides of the gripper 4 are wrapped clockwise with nylon thread on a cable reel. When the second servo of the drive device rotates clockwise, the gripper 4 opens and the target mouse is placed inside the gripper 4. When the second servo of the drive device rotates counterclockwise, the gripper 4 closes and the target mouse is wrapped and gripped inside the gripper 4.

[0046] Furthermore, such as Figure 3 As shown, in order to further increase the gripping force of the gripper 4 on the target mouse, a nylon thread is wound counterclockwise around the cable reel on the central axis of the gripper 4. When the target mouse is placed inside the gripper 4, the first linear motor and the second linear motor are rotated counterclockwise, causing the first simulated finger 2 and the second simulated finger 3 to bend, thereby increasing the pressure between the gripper 4 and the target mouse.

[0047] In some embodiments, the signal acquisition device may include:

[0048] A preset sensor is placed on the arm of the amputee to collect multiple human data and build a training set. The human data includes one or more of electromyography (EMG), electroencephalography (EEG), and eye movement (EMG) signals.

[0049] The training module is connected to a preset sensor and is used to train a pre-built action classification model using a training set to obtain an action recognition model.

[0050] The monitoring and acquisition module is connected to the training module. It is used to collect real-time human body data and input it into the action recognition module. It also uses a continuous decision window to monitor the action recognition module and obtain real-time action signals.

[0051] Optionally, the preset sensor may include:

[0052] The selection unit is used to select three easily distinguishable actions, corresponding to left-click, right-click, and scroll wheel in mouse operations;

[0053] The data acquisition unit is used to control the drive device to make the amputee patient repeat each action a preset number of times, and each action lasts for a preset duration, in order to collect multiple human data and build a training set.

[0054] It should be noted that different human data (including but not limited to electromyography signals, electroencephalography signals, and eye movement signals) can be collected from different amputees. Furthermore, after the signal source is determined, different areas can be selected to collect data based on the specific circumstances of the amputee.

[0055] For example, taking electromyographic signals as an example, such as Figure 4 As shown, an electromyography (EMG) sensor was placed on the arm of an amputee patient. Three easily distinguishable hand gestures (a, b, c) were selected, corresponding to left-click, right-click, and scroll wheel operation in mouse operation. The subject was asked to repeat each gesture 40 times, with each gesture lasting 5 seconds. Multiple human data were collected and constructed into a training set.

[0056] After the data acquisition process is completed, an action classification model can be built using existing classification algorithms (including but not limited to CNN, KNN, SVM, etc.). The action classification model can be trained using the training set to obtain an action recognition model, which can be used to classify and recognize different actions in the future. It can complete the recognition and classification of any input signal.

[0057] In actual use, such as Figure 5 As shown, by using an electromyography (EMG) sensor to collect human body signals from amputees in real time and inputting them into the action recognition model, it is possible to determine which specific action the current input action belongs to in the previous data preprocessing process (a, b, c).

[0058] However, during mouse operation, taking left-click (a) as an example, common actions include single click (a-1), double click (a-2), and long press (a-3). Therefore, the post-processing process here is to achieve "one-to-many" output (i.e., one input action corresponds to multiple operation outputs). The post-processing process maps a single hand movement category to multiple mouse operations based on the classifier's output, using continuous decision windows to monitor the classifier output and achieve one-to-many mapping, such as... Figure 6 As shown, the specific process is as follows:

[0059] When the sensor is detected to be not in a resting state, the action state of three consecutive time periods starting from this point is recorded. If the action state of the three time periods is the same and none of them are in a resting state, it corresponds to a long-press mouse operation, and the corresponding real-time action signal is output. If the action state of the first two time periods is the same, but the third action state is different, it corresponds to a double-click mouse operation, and the corresponding real-time action signal is output. If the action state of the first two time periods is different, it corresponds to a single-click mouse operation, and the corresponding real-time action signal is output. This real-time action signal is then sent to the drive device to control any one of the synchronous belt, the first simulated finger, or the second simulated finger to perform the corresponding action.

[0060] The examples above only refer to mouse operations involving left and right clicks. For mouse wheel operations, single and double clicks can be replaced with clockwise and counterclockwise scrolling.

[0061] Through the above process, mouse operation classification based on real-time acquired human body signals is completed. Finally, the output real-time motion signals are mapped to the mouse operation actions of the prosthetic hand. Different control commands control different driving devices of the simulated hand to realize the left and right clicks, double clicks, long presses, and scrolling of the mouse wheel.

[0062] In addition, to achieve the opening or closing of the grippers for grasping, a decision window processing algorithm can be used to add a window to increase the output and control the opening or closing of the grippers.

[0063] In summary, the mouse-operated prosthetic hand for amputees proposed according to embodiments of the present invention has the following beneficial effects:

[0064] It allows amputees to continuously move the mouse in a two-dimensional plane for operation. Compared with related technologies, it does not skip the intermediate medium of the mouse and does not directly control the movement of the mouse cursor. Instead, it makes reasonable use of the amputee's remaining end arm to realize continuous mouse movement in a two-dimensional plane.

[0065] It realizes the transformation from input of a single action to output of multiple mouse operations. Through the post-processing of the decision window, it can further classify operation actions based on the classification of human signal actions, thereby improving classification efficiency and reducing the complexity and fatigue of amputees.

[0066] It can perform various mouse operation tasks, including copying and pasting, opening nested folders, browsing web pages, and dragging multiple files into a specified folder.

[0067] Next, with reference to the accompanying drawings, a control method for mouse-operated prosthetic hand for amputees according to an embodiment of the present invention is described.

[0068] Figure 7 This is a flowchart of a mouse-operated prosthetic hand control method for amputees according to an embodiment of the present invention.

[0069] like Figure 7 As shown, the mouse-operated prosthetic hand control method for amputees includes the following steps:

[0070] In step S701, the mouse-operated prosthetic hand facing the amputee patient is connected to the amputee patient's arm.

[0071] In step S702, the driving device of the simulated hand drives the synchronous belt, the first simulated finger, the second simulated finger, and the gripper to perform a predetermined number of actions to train the signal acquisition device of the prosthetic interface. The predetermined actions are three easily distinguishable actions, corresponding to left-click, right-click, and scroll wheel in mouse operation.

[0072] In step S703, the trained signal acquisition device is used to collect real-time motion signals of the amputee patient's arm.

[0073] In step S704, the drive device is controlled according to the real-time action signal, so that any one of the synchronous belt, the first simulated finger, the second simulated finger, and the gripper performs the corresponding action.

[0074] It should be noted that the explanation of the control method embodiment for mouse-operated prosthetic hand for amputees also applies to the mouse-operated prosthetic hand for amputees in this embodiment, and will not be repeated here.

[0075] The control method for mouse-operated prosthetic hand for amputees proposed according to embodiments of the present invention has the following beneficial effects:

[0076] It allows amputees to continuously move the mouse in a two-dimensional plane for operation. Compared with related technologies, it does not skip the intermediate medium of the mouse and does not directly control the movement of the mouse cursor. Instead, it makes reasonable use of the amputee's remaining end arm to realize continuous mouse movement in a two-dimensional plane.

[0077] It realizes the transformation from input of a single action to output of multiple mouse operations. Through the post-processing of the decision window, it can further classify operation actions based on the classification of human signal actions, thereby improving classification efficiency and reducing the complexity and fatigue of amputees.

[0078] It can perform various mouse operation tasks, including copying and pasting, opening nested folders, browsing web pages, and dragging multiple files into a specified folder.

[0079] Figure 8 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. The electronic device may include:

[0080] The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0081] When the processor 802 executes the program, it implements the mouse-operated prosthetic hand control method for amputees provided in the above embodiments.

[0082] Furthermore, electronic devices also include:

[0083] Communication interface 803 is used for communication between memory 801 and processor 802.

[0084] The memory 801 is used to store computer programs that can run on the processor 802.

[0085] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0086] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0087] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0088] The processor 802 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0089] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described mouse-operated prosthetic hand control method for amputees.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0093] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0094] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0095] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0096] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0097] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A mouse-operated prosthetic hand for amputees, characterized in that, include: Synchronous belt, used to scroll the target mouse wheel; The first and second simulated fingers are respectively positioned on both sides of the synchronization band and are used to click the left and right buttons of the target mouse. The gripper, located below the synchronization belt, the first simulated finger, and the second simulated finger, is used to grip the target mouse and generate a movement trajectory; A simulated hand is provided, with a drive device inside. One end of the simulated hand is connected to a timing belt, a first simulated finger, a second simulated finger, and a gripper, respectively. The drive device controls the rotation of the timing belt, the bending of the first and second simulated fingers, and the opening or closing of the gripper. The drive device includes a first linear motor, a second linear motor, a first servo motor, and a second servo motor. The first linear motor and the second linear motor control the bending of the first simulated finger and the second simulated finger respectively through a line drive, so as to achieve the clicking of the left and right buttons of the target mouse; The first servo motor controls the timing belt via gears to achieve the scrolling of the target mouse wheel; The second servo motor controls the opening and closing of the gripper via a wire drive to grasp the target mouse and move it on the desktop; The prosthetic interface includes a signal acquisition device. The prosthetic interface is connected to the other end of the simulated hand. The signal acquisition device is connected to the drive device and is used to connect with the amputee's arm to acquire the amputee's real-time motion signal and transmit the real-time motion signal to the drive device, so that any one of the timing belt, the first simulated finger, the second simulated finger, and the gripper can perform a corresponding action.

2. The mouse-operated prosthetic hand for amputees according to claim 1, characterized in that, Both the first and second simulated fingers are made of soft rubber material. By setting an asymmetrical structure at the joint, the first and second simulated fingers can perform bending movements under the tension of the first and second linear motors driven by the linear motors.

3. The mouse-operated prosthetic hand for amputees according to claim 1, characterized in that, The two sides of the gripper are wrapped with nylon thread clockwise around the cable reel. When the second servo rotates clockwise, the gripper opens and places the target mouse inside the gripper. When the second servo rotates counterclockwise, the gripper closes and wraps around and holds the target mouse inside the gripper.

4. The mouse-operated prosthetic hand for amputees according to claim 1, characterized in that, The signal acquisition device includes: A preset sensor is installed on the arm of the amputee patient to collect multiple human data and construct a training set, wherein the human data is any one or more of electromyography signals, electroencephalography signals and eye movement signals; A training module, which is connected to the preset sensor, is used to train a pre-built action classification model using the training set to obtain an action recognition module. A monitoring and acquisition module, which is connected to the training module, is used to collect real-time human body data and input it into the action recognition module, and to monitor the action recognition module using a continuous decision window to obtain real-time action signals.

5. The mouse-operated prosthetic hand for amputees according to claim 4, characterized in that, The preset sensor includes: The selection unit is used to select three easily distinguishable actions, corresponding to left-click, right-click, and scroll wheel in mouse operations; The acquisition unit is used to control the driving device to make the amputee patient repeat each action a preset number of times, and each action lasts for a preset duration, so as to acquire the multiple human body data and construct the training set.

6. A control method for operating a prosthetic hand using a mouse for amputees, characterized in that, Using a mouse to operate a prosthetic hand for amputees as described in any one of claims 1-5, wherein the method includes the following steps: Connect the mouse-operated prosthetic hand, oriented towards the amputee patient, to the amputee patient's arm; The driving device of the simulated hand drives the synchronous belt, the first simulated finger, the second simulated finger, and the gripper to perform a predetermined number of actions to train the signal acquisition device of the prosthetic interface. The predetermined actions are three easily distinguishable actions, corresponding to left-click, right-click, and scroll wheel in mouse operation. The real-time motion signals of the amputee patient's arm are collected using a trained signal acquisition device; The drive device is controlled according to the real-time motion signal, so that any one of the timing belt, the first simulated finger, the second simulated finger, and the gripper performs a corresponding action.

7. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the mouse-operated prosthetic hand control method for amputees as described in claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the mouse-operated prosthetic hand control method for amputees as described in claim 6.

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