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

By combining feedforward signals and feedback signals, identifying and generating control signals, the stability problem of prosthetic hand control when the electromyography signal is affected is solved, and more stable prosthetic hand control is achieved.

CN119632737AActive Publication Date: 2025-03-18SHENZHEN INST OF ADVANCED TECH
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Patent Information

Application Number
CN202411825862.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-12
Publication Date
2025-03-18
Estimated Expiration
2044-12-12

AI Technical Summary

Technical Problem

The existing fake hand control scheme has the problem of decreased control stability when electromyography signals are affected by sweat, electrode displacement and muscle fatigue.

Method used

By obtaining the electromyography and pressure signals of the muscles on the wear end of the prosthetic hand, a first motion intention is identified and a control signal is generated based on this to control the prosthetic hand movement. During the movement, the finger joint angle, inertia and grasping signals are obtained, the second motion intention is identified, and the second control signal is generated in combination to improve control stability.

Benefits of technology

By combining the feedforward signal and the feedback signal, the control signal of the prosthetic hand is corrected, and the problem of degradation of control stability caused by the impact of the electromyography signal is solved, thereby improving the stability of the prosthetic hand control.

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Abstract

The embodiment of the invention discloses an artificial hand control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring an electromyographic signal of a muscle on a wearing end of the artificial hand and a pressure signal generated by the muscle due to upheaval, and identifying a first motion intention based on the electromyographic signal and the pressure signal; generating a first control signal based on the first motion intention to control the artificial hand to move based on the first control signal; in the motion process of the artificial hand, acquiring an angle signal of each finger joint on the artificial hand, an inertia signal of the artificial hand and a grasping signal for reflecting grasping force applied by the artificial hand, and identifying a second motion intention based on the angle signal, the inertia signal and the grasping signal; generating a second control signal according to the first motion intention and the second motion intention, and controlling the artificial hand to move based on the second control signal. According to the technical scheme, the stability of artificial hand control can be improved.
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