Finger pressure acquisition method and device, computing equipment and storage medium

Abstract

The invention provides a finger pressure obtaining method and device, computing equipment and a storage medium, and relates to the field of robots. The obtaining method comprises the steps of obtaining a first stretching amount corresponding to a traction rope when each knuckle rotates based on a rotation angle of each knuckle; based on the second stretching amount of the pulling rope when the finger is bent and the multiple first stretching amounts, the pulling force corresponding to the pulling rope when the finger is bent is obtained; based on the pulling force, the pressure borne by all the knuckles is obtained.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a method, apparatus, computing device, and storage medium for acquiring finger pressure. Background Art

[0002] A robot's dexterous grasping ability is key to its ability to perform tasks such as grasping and handling. During these processes, precise monitoring of the pressure on each knuckle of the fingers directly affects grasping stability and operational safety.

[0003] Related technologies typically install pressure sensors on each knuckle of a robot to obtain corresponding pressure data, thereby enabling monitoring and control of the grasping state. However, pressure sensors are susceptible to environmental factors such as temperature and humidity, causing the measured pressure data to drift, affecting the accuracy of grasping force control.

[0004] Therefore, there is an urgent need to provide a method that can accurately measure the pressure of each knuckle. Summary of the Invention

[0005] In view of this, the embodiments of the present disclosure hope to provide a method, apparatus, computing device and storage medium for acquiring finger pressure, which can solve the technical problem of inaccurate pressure monitoring of each knuckle in the related art.

[0006] The technical solution of the embodiment of the present disclosure is implemented as follows: In a first aspect, an embodiment of the present disclosure provides a method for obtaining finger pressure, where the finger includes at least two knuckles, and the method includes: Based on the rotation angle of each knuckle, obtaining a first stretching amount of the traction rope corresponding to the rotation of each knuckle; obtaining a tension of the traction rope corresponding to the bending of the finger based on a second stretching amount of the traction rope and a plurality of first stretching amounts when the finger is bent; Based on the pulling force, the pressure on each knuckle is obtained.

[0007] Optionally, in some embodiments, the first stretching amount is obtained according to the rotation angle of the knuckle and the radius of the corresponding pulley.

[0008] Optionally, in some embodiments, the second stretching amount is obtained according to a rotation angle of a roller for driving the traction rope to move and a radius of the roller.

[0009] Optionally, in some embodiments, obtaining the tension of the traction rope corresponding to the bending of the finger based on the second stretching amount of the traction rope and the plurality of first stretching amounts when the finger is bent includes: Obtaining a difference between a sum of a plurality of first stretching amounts and a second stretching amount; The pulling force is obtained based on the difference and the elastic coefficient of the traction rope.

[0010] Optionally, in some embodiments, obtaining the pressure borne by each knuckle based on the pulling force includes: According to the principle of torque balance, the pressure on the knuckle is obtained based on the pulling force, the radius of the pulley and the length of the knuckle.

[0011] Optionally, in some embodiments, the rotation angle of the knuckle is obtained by a first angle sensing device provided at the pulley.

[0012] Optionally, in some embodiments, the rotation angle of the roller is obtained by a second angle sensing device provided at the roller.

[0013] In a second aspect, an embodiment of the present disclosure provides a device for acquiring finger pressure, the device comprising: a first acquisition unit, a second acquisition unit, and a third acquisition unit; wherein, A first acquiring unit is configured to acquire a first stretching amount of the traction rope corresponding to the rotation of each knuckle based on the rotation angle of each knuckle; a second acquiring unit configured to acquire a tension of the traction rope corresponding to the bending of the finger based on a second stretching amount of the traction rope and a plurality of first stretching amounts when the finger is bent; The third acquiring unit is configured to acquire the pressure borne by each finger joint based on the tension.

[0014] In a third aspect, an embodiment of the present disclosure provides a computing device, the computing device including a processor and a memory; wherein, The processor is configured to execute instructions stored in the memory to implement the method for acquiring finger pressure according to the first aspect.

[0015] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium, wherein the computer storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the method for acquiring finger pressure according to the first aspect.

[0016] According to the above technical solution, the corresponding tension is obtained by using the first stretch of the traction rope during the rotation of each knuckle and the second stretch of the traction rope during the flexion of the finger. The pressure at the center of each knuckle surface is then determined by mechanical analysis of each knuckle. The acquisition method provided by this disclosure avoids the influence of environmental factors on pressure data, making the acquired pressure data more accurate and reliable, thereby facilitating accurate monitoring of processes such as the robot's grasping and ensuring its grasping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 Schematic diagram of the structure of a robot finger in related technology.

[0019] Figure 2 A schematic flow chart of a method for acquiring finger pressure provided in an embodiment of the present disclosure.

[0020] Figure 3 Another structural schematic diagram of the robot finger provided in an embodiment of the present disclosure.

[0021] Figure 4 Schematic diagram of pressure analysis on the middle finger joint provided in an embodiment of the present disclosure.

[0022] Figure 5 Schematic diagram of pressure analysis on the distal phalanx provided in an embodiment of the present disclosure.

[0023] Figure 6 Schematic diagram of pressure analysis on the proximal knuckle provided in an embodiment of the present disclosure.

[0024] Figure 7 A schematic diagram of the composition of a device for acquiring finger pressure provided in an embodiment of the present disclosure.

[0025] Figure 8 A schematic diagram of the structure of a computing device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in this disclosure to clearly describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0027] Furthermore, the terms "first," "second," and the like in the description of the present disclosure are used to distinguish similar objects, and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the present disclosure can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first," "second," and the like generally refer to a class of objects, and do not limit the number of objects. For example, the first object may be one or more.

[0028] In the related art, the structure of the robot's finger 1 is as follows Figure 1 The finger 1 specifically comprises: at least two knuckles 11 and a traction rope 12. Two adjacent knuckles 11 are rotatably connected via a joint shaft 13.

[0029] To facilitate the explanation of subsequent technical solutions, in this disclosure, the knuckle farthest from the robot palm among the at least two knuckles 11 is referred to as the distal knuckle 11A, the knuckle 11 closest to the palm among the at least two knuckles 11 is referred to as the proximal knuckle 11B, and the knuckle 11 located between the distal knuckle and the proximal knuckle is referred to as the middle knuckle 11C.

[0030] It should be noted that in Figure 1 FIG. 1 shows that the finger 1 includes three knuckles 11. However, the finger 1 may also include two knuckles 11. In the present disclosure, the number of knuckles 11 included in the finger 1 is not specifically limited.

[0031] In addition, a pulley 14 is coaxially sleeved on each joint shaft 13 , and the pulley 14 forms a rolling contact with the traction rope 12 to constrain the movement path of the traction rope 12 .

[0032] It should be noted that the finger 1 further includes a frame connector (not shown), which is used to connect the proximal phalanx 11B and the palm, and the frame connector and the proximal phalanx 11B are rotationally connected.

[0033] based on Figure 1 The finger 1 shown is usually equipped with a pressure sensor in order to monitor the pressure on each knuckle 11. However, as mentioned above, the pressure sensor is easily affected by environmental factors, resulting in inaccurate monitoring data.

[0034] Therefore, the present disclosure aims to provide a method for accurately acquiring pressure data on each knuckle 11 .

[0035] In the following, with reference to the accompanying drawings, the acquisition method provided by the present disclosure is applied to the finger of a robot as an example, and the acquisition method provided by the present disclosure is described in detail through specific embodiments and application scenarios.

[0036] like Figure 2 As shown, the method for acquiring finger pressure provided by the present disclosure may include the following steps S201 to S203.

[0037] In step S201 , based on the rotation angle of each knuckle 11 , a first stretching amount of the traction rope 12 corresponding to the rotation of each knuckle 11 is obtained.

[0038] It should be understood that the rotation angle of a phalanx 11 refers to the angular change formed by the phalanx 11 as it approaches the robot's palm around its corresponding joint axis 13, starting from the fully extended initial position of the finger 1 (0° position). For example, the rotation angle of distal phalanx 11A around its corresponding joint axis 13A is denoted as α1, the rotation angle of proximal phalanx 11B around its corresponding joint axis 13B is denoted as α2, and the rotation angle of middle phalanx 11C around its corresponding joint axis 13C is denoted as α3.

[0039] When the knuckle 11 rotates, the traction rope 12 is stretched toward the palm as the pulley 14 rotates. Therefore, in some embodiments, the first stretching amount is obtained according to the rotation angle of the knuckle 11 and the corresponding radius of the pulley 14 .

[0040] In the present disclosure, the rotation angle of the knuckle 11 can be represented by the rotation angle of the corresponding pulley 14, so Figure 3 As shown, in order to accurately obtain the rotation angle of the knuckle 11 , the rotation angle of the knuckle 11 is obtained by a first angle sensing device 15 provided at the pulley 14 .

[0041] In some examples, the first angle sensing device 15 may be a magnetic encoder or an angle sensor.

[0042] Specifically, taking the rotation angle of the distal phalanx 11A as α1 as an example, when the rotation angle α1 of the distal phalanx 11A is detected by the first angle sensing device 15, in this case, according to the rotation angle α1 of the distal phalanx 11A and the corresponding radius r of the pulley 14A, 1A The first stretching amount L of the traction rope 12 corresponding to the rotation of the distal phalanx 11A by α1 can be obtained. 1A In some examples, the first stretching amount of the traction rope 12 can be obtained by multiplying the rotation angle of the distal phalanx 11A by the radius of the corresponding pulley 14A, which can be expressed as follows:

[0043] Similarly, when the proximal knuckle 11B rotates α2, the first stretching amount L of the traction rope 12 is 1B It can be expressed as follows:

[0044] Among them, r 1B Indicates the radius of the pulley 14B corresponding to the proximal knuckle 11B.

[0045] Similarly, when the middle phalanx 11C rotates α3, the first stretching amount L of the traction rope 12 is 1C It can be expressed as follows:

[0046] Among them, r 1C Indicates the radius of the pulley 14C corresponding to the middle knuckle 11C.

[0047] It should be understood that the above-mentioned first stretching amount represents the theoretical rope length change of the traction rope 12 during the rotation of the knuckle 11.

[0048] In the above case, the first angle sensing device 15 monitors the rotation angle of the knuckle 11 in real time, and the first stretching amount is calculated in combination with the radius of the corresponding pulley 14, so as to accurately control the change in the theoretical rope length of the traction rope 12, so as to make accurate judgments on the robot's grasping process and avoid response delays in the grasping process.

[0049] In step S202 , based on the second stretching amount of the traction rope 12 and the plurality of first stretching amounts when the finger 1 is bent, the tension of the traction rope 12 corresponding to the bending of the finger 1 is obtained.

[0050] It should be understood that the second stretching amount represents the actual length change of the traction rope 12 during the bending of the finger 1 .

[0051] In some examples, one end of the traction rope 12 is connected to the distal phalanx 11A, and the other end can be connected to the roller 16. When the finger 1 bends, the roller 16 rotates and reels the traction rope 12 to drive the traction rope 12 to move, so that the traction rope 12 is tightly wrapped around the roller 12 along a preset winding path, thereby transmitting the movement of the phalanx 11. Therefore, in some embodiments, the second stretching amount is obtained according to the rotation angle and radius of the roller 16. Figure 3 As shown, in order to accurately obtain the rotation angle of the roller 16 , the rotation angle of the roller 16 is obtained by a second angle sensing device 17 provided at the roller 16 .

[0052] In some examples, the second angle sensing device 17 may be a magnetic encoder or an angle sensor.

[0053] It should be understood that when the first angle sensing device 15 and the second angle sensing device 17 are encoders, since the resolution of the magnetic encoder can reach 0.1°, once the pulley 14 or the roller 16 rotates, the angle change can be captured instantaneously, and the first and second stretching amounts of the traction rope 12 can be obtained accordingly, thereby realizing real-time monitoring of the bending state of the finger 1.

[0054] Specifically, when all the knuckles 11 of the finger 1 rotate to the target position, the rotation angle of the roller 16 is β. At this time, the second stretching amount L2 of the traction rope 12 corresponding to the bending process of the finger 1 can be obtained according to the product of the rotation angle β of the roller 16 and its radius R. It can be expressed as follows using the formula:

[0055] Understandably, the actual length change of the traction rope 12 can be accurately calculated using the rotation angle and radius of roller 16. Because the traction rope 12 is typically made of a steel wire rope, its material properties cause elastic deformation under tension, resulting in a difference between the sum of the first and second stretches caused by the rotation of each knuckle 11. Therefore, in this case, based on the actual and theoretical length changes, the effective elastic length of the traction rope 12 during the bending of the finger 1 can be determined, and thus the corresponding tension in the traction rope 12 during the bending of the finger 1.

[0056] Specifically, in some embodiments, obtaining the tension of the traction rope 12 corresponding to the bending of the finger 1 based on the second stretching amount of the traction rope 12 and the plurality of first stretching amounts when the finger 1 is bent includes: Obtaining a difference between a sum of a plurality of first stretching amounts and a second stretching amount; Based on the difference and the elastic coefficient of the traction rope 12, the pulling force is obtained.

[0057] In this case, the pulling force F of the traction rope 12 can be expressed as follows using the formula:

[0058] Here, k represents the elastic coefficient of the traction rope 12.

[0059] It should be noted that the present disclosure only takes into account the elastic deformation of the traction rope 12 in the tension calculation. The inelastic deformation caused by the friction between the pulley 14 and the traction rope 12 is controlled within the allowable error range and can be ignored. To further reduce the influence of friction, the surface of the pulley 14 can be subjected to friction reduction treatment.

[0060] In step S203 , the pressure exerted on each knuckle 11 is obtained based on the pulling force.

[0061] In step S203 , the pressure on each knuckle 11 is calculated using the tension of the traction rope 12 , thereby eliminating the load coupling error of each knuckle 11 so far, so that the obtained pressure data can be closer to the true value.

[0062] Furthermore, by separately acquiring pressure data between each phalanx 11, the pressure on each phalanx 11 can be rationally controlled during the robot's grasping process, avoiding unstable grasping due to pressure distribution issues. Furthermore, in the present disclosure, the real-time elastic deformation of the traction rope 12 is calculated by taking the difference between the sum of multiple first stretches and the second stretch, and then converting the real-time tension of the traction rope 12 according to Hooke's law. The pressure on each phalanx 11 is also simultaneously calculated. This avoids the problem of misjudging the robot's grasping state due to the response delay of the pressure sensor, which occurs in related technologies.

[0063] In some embodiments, the above-mentioned obtaining the pressure exerted on each knuckle 11 based on the tension includes: According to the moment balance principle, the pressure on the knuckle 11 is obtained based on the pulling force, the radius of the pulley 14 and the length of the knuckle 11 .

[0064] Specifically, if Figure 4 As shown, taking the pressure on the middle phalanx 11C as acting on the center of the surface of the middle phalanx 11C, the product of the above-mentioned pulling force and the radius of the pulley 14C is equal to the product of half the length of the middle phalanx 11C and the pressure, which can be expressed by the formula:

[0065] in, Indicates the length of the middle phalanx 11C; Indicates the pressure on the middle phalanx 11C; Indicates the radius of the pulley 14C corresponding to the middle knuckle 11C.

[0066] Therefore, the pressure on the middle phalanx 11C is: .

[0067] like Figure 5 As shown, by the same token, the pressure on the distal phalanx 11A is: ; in, represents the length of distal phalanx 11A; It indicates the pressure on the distal phalanx 11A; Indicates the radius of the pulley 14A corresponding to the distal phalanx 11A.

[0068] like Figure 6 As shown, by the same token, the pressure on the proximal phalanx 11B is: ; in, Indicates the length of the proximal phalanx 11B; Indicates the pressure on the middle phalanx 11B; Indicates the radius of the pulley 14B corresponding to the proximal knuckle 11B.

[0069] It should be noted that the lengths of the middle phalanx 11C and the proximal phalanx 11B refer to the axial distances between the joint shafts 13 connected to their respective ends. The length of the distal phalanx 11A refers to the distance from the center of the joint shaft 13 connected to the end of the distal phalanx 11A to the fingertip.

[0070] It is understandable that in the present disclosure, each knuckle 11 is assumed to be a rigid part, that is, each knuckle 11 will not produce measurable elastic deformation when subjected to pressure, and its geometric dimensions and centroid position always remain constant.

[0071] In the present disclosure, during the bending process of the finger 1, the corresponding tension is obtained by using the first stretch of the traction rope 12 during the rotation of each knuckle 11 and the second stretch of the traction rope 12 during the bending process of the finger 1. Furthermore, the pressure at the center of the surface of each knuckle 11 is obtained by performing mechanical analysis on each knuckle 11. The acquisition method provided in the present disclosure avoids the influence of environmental factors on the pressure data, making the obtained pressure data more accurate and reliable, thereby facilitating accurate monitoring of the robot's grasping process and ensuring its grasping stability.

[0072] Based on the same concept as the above finger pressure acquisition method, please refer to Figure 7 The present disclosure also provides a finger pressure acquisition device 70, which includes: a first acquisition unit 701, a second acquisition unit 702 and a third acquisition unit 703. The first acquiring unit 701 is configured to acquire a first stretching amount of the traction rope corresponding to the rotation of each knuckle based on the rotation angle of each knuckle; The second acquiring unit 702 is configured to acquire the tension of the traction rope corresponding to the bending of the finger based on the second stretching amount of the traction rope and the plurality of first stretching amounts when the finger is bent; The third acquiring unit 703 is configured to acquire the pressure exerted on each knuckle based on the pulling force.

[0073] In some embodiments, the first acquiring unit 701 is specifically configured to obtain the first stretching amount according to the rotation angle of the knuckle and the radius of the corresponding pulley.

[0074] In some embodiments, the first acquiring unit 701 is further configured to obtain the rotation angle of the knuckle via a first angle sensing device provided at the pulley.

[0075] In some embodiments, the second acquiring unit 702 is specifically configured to: acquire the second stretching amount according to the rotation angle of the roller used to drive the traction rope to move and the radius of the roller.

[0076] In some implementations, the second acquiring unit 702 is further configured to: Obtaining a difference between a sum of a plurality of first stretching amounts and a second stretching amount; The pulling force is obtained based on the difference and the elastic coefficient of the traction rope.

[0077] In some implementations, the second acquiring unit 702 is further configured to: The rotation angle of the roller is obtained by a second angle sensing device arranged at the roller.

[0078] In some implementations, the third acquiring unit 703 is specifically configured to: According to the principle of torque balance, the pressure on the knuckle is obtained based on the pulling force, the radius of the pulley and the length of the knuckle.

[0079] See Figure 8 , which shows a structural block diagram of a computing device 80 provided by an exemplary embodiment of the present disclosure. In some examples, the computing device 80 can be at least one of a smart phone, a smart watch, a desktop computer, a laptop computer, a virtual reality terminal, an augmented reality terminal, a wireless terminal and a laptop portable computer. The computing device 80 has a communication function and can access a wired network or a wireless network. The computing device 80 can generally refer to one of a plurality of terminals. Those skilled in the art will appreciate that the number of the above terminals can be more or less. In some examples, the computing device 80 can receive data based on the wired network or wireless network to which it is connected. It can be understood that the computing device 80 undertakes the calculation and processing work of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0080] like Figure 8 As shown, the computing device 80 in the present disclosure may include one or more of the following components: a processor 810 and a memory 820 .

[0081] Optionally, the processor 810 utilizes various interfaces and circuits to connect various components within the computing device. It executes instructions, programs, code sets, or instruction sets stored in the memory 820, as well as accesses data stored in the memory 820, to perform various functions of the computing device and process data. Optionally, the processor 810 can be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 810 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processing unit (NPU), and a baseband chip. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the touchscreen display; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip handles wireless communications. It is understandable that the above-mentioned baseband chip may not be integrated into the processor 810, but may be implemented by a separate chip.

[0082] The memory 820 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 820 includes a non-transitory computer-readable storage medium (Non-Transitory Computer-Readable Storage Medium). The memory 820 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 820 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), and instructions for implementing each of the above method embodiments. The data storage area may store data created based on the use of the computing device.

[0083] In addition, those skilled in the art will understand that the structures of the computing devices shown in the above figures do not constitute limitations on the computing devices. The computing devices may include more or fewer components than shown, or may combine certain components or arrange the components differently. For example, the computing devices may also include a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, sensors (such as an accelerometer, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, and other components, which will not be described in detail here.

[0084] The present disclosure further provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is configured to be executed by a processor to implement the method for acquiring finger pressure as described in the above embodiments.

[0085] The present disclosure also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium; a processor of a computing device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computing device executes to implement the finger pressure acquisition method described in each of the above embodiments.

[0086] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in this disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0087] It should be noted that the technical solutions described in this disclosure can be combined arbitrarily without conflict.

[0088] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for obtaining finger pressure, characterized in that: The finger includes at least two knuckles, and the acquisition method includes: Based on the rotation angle of each of the knuckles, obtaining a first stretching amount of the traction rope corresponding to the rotation of each of the knuckles; obtaining a tension of the traction rope corresponding to the bending of the finger based on a second stretching amount of the traction rope when the finger is bent and a plurality of the first stretching amounts; Based on the pulling force, the pressure borne by each of the finger joints is obtained respectively.

2. The method for obtaining finger pressure according to claim 1, characterized in that: The first stretching amount is obtained according to the rotation angle of the finger joint and the radius of the corresponding pulley.

3. The method for obtaining finger pressure according to claim 1, characterized in that: The second stretching amount is obtained according to a rotation angle of a roller for driving the traction rope to move and a radius of the roller.

4. The method for obtaining finger pressure according to claim 1, wherein: The obtaining, based on the second stretching amount of the traction rope when the finger is bent and the plurality of the first stretching amounts, of the traction rope corresponding to the bending of the finger includes: Obtaining a difference between a sum of a plurality of first stretching amounts and a second stretching amount; The pulling force is obtained based on the difference and the elastic coefficient of the traction rope.

5. The method for obtaining finger pressure according to claim 2, wherein: The step of obtaining the pressure exerted on each of the knuckles based on the pulling force includes: According to the moment balance principle, the pressure on the knuckle is obtained based on the pulling force, the radius of the pulley and the length of the knuckle.

6. The method for obtaining finger pressure according to claim 2, characterized in that: The rotation angle of the knuckle is obtained by a first angle sensing device arranged at the pulley.

7. The method for acquiring finger pressure according to claim 3, characterized in that: The rotation angle of the roller is obtained by a second angle sensing device arranged at the roller.

8. A device for acquiring finger pressure, characterized in that: The acquisition device includes: a first acquisition unit, a second acquisition unit and a third acquisition unit; wherein, The first acquiring unit is configured to acquire a first stretching amount of the traction rope corresponding to the rotation of each knuckle based on the rotation angle of each knuckle; The second acquiring unit is configured to acquire the tension of the traction rope corresponding to the bending of the finger based on a second stretching amount of the traction rope when the finger is bent and a plurality of the first stretching amounts; The third acquisition unit is configured to respectively acquire the pressure borne by each of the finger joints based on the pulling force.

9. A computing device, characterized in that The computing device includes a processor and a memory; wherein, The processor is configured to execute instructions stored in the memory to implement the method for acquiring finger pressure according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that The computer storage medium stores at least one instruction, and the at least one instruction is configured to be executed by a processor to implement the method for acquiring finger pressure according to any one of claims 1 to 7.

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