Dexterous hand control device, dexterous hand control method and robot

Abstract

The invention discloses a dexterous hand control device, a dexterous hand control method and a robot, and the dexterous hand control device comprises a communication interface which is used for being connected with an upper computer and receiving a control instruction sent by the upper computer; the whole-hand manager is connected with the communication interface; an independent communication channel is constructed between the multiple finger controllers and the whole hand manager, and connection is established through the communication channel. According to the invention, the plurality of finger controllers are connected with the whole hand manager, so that the whole hand manager can synchronously and coordinately manage the finger controllers, synchronous coordination control on the fingers or the motors is realized when the dexterous hand is controlled, and the action coordination and stability of the dexterous hand are improved.

Description

Technical Field

[0001] This application relates to the field of dexterous hand technology, and in particular to a dexterous hand control device, a dexterous hand control method, and a robot. Background Technology

[0002] A dexterous hand is an artificial device that mimics the structure, motor function, and sensory abilities of the human hand. It is mainly used in scenarios such as human-machine collaboration, rehabilitation assistance, and intelligent prostheses.

[0003] Currently, existing dexterity hand control firmware is typically developed for single-finger controllers or single motors, with each finger or motor being controlled independently. This makes it difficult to synchronize and coordinate the control of each finger or motor when controlling a dexterity hand.

[0004] Therefore, existing control firmware is prone to causing problems with poor coordination and stability of dexterous hand movements. Summary of the Invention

[0005] The main objective of this application is to propose a dexterous hand control device, a dexterous hand control method, and a robot, which aims to solve the problems of poor motion coordination and stability of dexterous hands.

[0006] To achieve the above objectives, this application proposes a dexterous hand control device, which includes: A communication interface is provided for connecting to a host computer and receiving control commands sent by the host computer. A hand-controller, which is connected to the communication interface; Multiple finger controllers are provided, and each finger controller has an independent communication channel with the whole hand manager, and a connection is established through the communication channel.

[0007] In some embodiments, the plurality of finger controllers include a thumb controller, an index finger controller, a middle finger controller, a ring finger controller, and a little finger controller; each of the thumb controller, the index finger controller, the middle finger controller, the ring finger controller, and the little finger controller includes an independently packaged control module.

[0008] In some embodiments, the thumb controller, the index finger controller, the middle finger controller, the ring finger controller, and the little finger controller are all connected to the whole hand manager.

[0009] In some embodiments, the thumb controller includes a thumb tip controller and a thumb root controller, which are respectively connected to the whole hand manager.

[0010] In some embodiments, the control module includes a position loop control module, a velocity loop control module, a current loop control module, a force-position hybrid control module, and a tactile control module.

[0011] In some embodiments, the thumb controller, the index finger controller, the middle finger controller, the ring finger controller, and the little finger controller all further include an information acquisition module, wherein the information acquisition module is used to acquire real-time data of each finger.

[0012] This application further proposes a dexterous hand control method, the dexterous hand control method comprising: Detect whether control commands sent by the host computer have been received; Upon receiving a control command from the host computer, the control command is parsed and distributed to the corresponding finger controller via an independent communication channel, so that the finger controller can control the corresponding finger.

[0013] In some embodiments, distributing the parsed control commands to the corresponding finger controllers via independent communication channels includes: Based on the analysis results, several target finger controllers are determined to execute the control instructions, wherein the target finger controllers include a thumb controller, an index finger controller, a middle finger controller, a ring finger controller, or a little finger controller. The control commands are distributed to each of the target finger controllers.

[0014] In some embodiments, the dexterous hand control method further includes: Receive target finger state data generated when each of the target finger controllers executes the control command; The state data of each target finger are integrated to obtain the overall hand state data, and the overall hand state data is sent to the host computer.

[0015] This application further proposes a robot comprising a robot body and a dexterous hand, the dexterous hand comprising multiple fingers and the aforementioned dexterous hand control device.

[0016] The technical solution of this application connects multiple finger controllers to the whole hand manager, enabling the whole hand manager to synchronously coordinate and manage each finger controller. This achieves synchronous and coordinated control of each finger or motor when controlling a dexterous hand, thereby improving the coordination and stability of the dexterous hand's movements. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand control device of this application; Figure 2This is a schematic diagram of another embodiment of the dexterous hand control device of this application; Figure 3 This is a schematic diagram of another embodiment of the dexterous hand control device of this application; Figure 4 This is a schematic diagram of another embodiment of the dexterous hand control device of this application; Figure 5 This is a schematic diagram of another embodiment of the dexterous hand control device of this application; Figure 6 This is a schematic diagram of another embodiment of the dexterous hand control device of this application; Figure 7 This is a flowchart illustrating an embodiment of the dexterous hand control method of this application; Figure 8 This is a flowchart illustrating another embodiment of the dexterous hand control method of this application; Figure 9 This is a flowchart illustrating another embodiment of the dexterous hand control method of this application.

[0018] Explanation of icon numbers: . Detailed Implementation

[0019] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on the other component or an intervening component can be present simultaneously. When a component is referred to as "connected to" another component, it can be directly connected to the other component or an intervening component can be present simultaneously.

[0022] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0023] This application proposes a dexterous hand control device, referring to... Figure 1 , Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand control device of this application. In some embodiments, the dexterous hand control device 1 includes: Communication interface 10 is used to connect to the host computer and receive control commands sent by the host computer. The hand-held device manager 20 is connected to the communication interface 10. Multiple finger controllers 30 are provided, and independent communication channels are established between the multiple finger controllers 30 and the whole hand manager 20, and a connection is established through the communication channels.

[0024] In this embodiment, as Figure 1 As shown, the dexterous hand control device 1 includes a communication interface 10, a whole hand manager 20, and multiple finger controllers 30. The communication interface 10 is used to connect to a host computer and receive control commands sent by the host computer. The whole hand manager 20 is connected to the communication interface 10. The multiple finger controllers 30 have independent communication channels with the whole hand manager 20 and establish connections through the communication channels.

[0025] When a user wants to control the dexterous hand via a host computer, they can connect the communication interface 10 to the host computer and then send control commands to the communication interface 10. Upon receiving the control commands, the communication interface 10 can transmit them to the hand manager 20. The hand manager 20, upon receiving the control commands, can analyze them to determine at least one finger controller that will execute the command, and then distribute the control commands to each finger controller executing the command via an independent communication channel.

[0026] The whole hand manager may include a unified scheduling module, which can be used to uniformly schedule each finger controller to ensure that control commands are executed in a coordinated manner among the finger controllers.

[0027] The communication interface is configured with one or more of the following communication protocols: EtherCAT (Ethernet for Control Automation Technology), CAN (Controller Area Network), CANFD (Controller Area Network Flexible Data-Rate), and RS485 (Recommended Standard 485). This allows the communication interface to support multiple communication protocols for unified access, ensuring that the host computer can access the dexterous hand control device 1 through a standard interface.

[0028] The technical solution of this application connects multiple finger controllers to the whole hand manager, enabling the whole hand manager to synchronously coordinate and manage each finger controller. This achieves synchronous and coordinated control of each finger or motor when controlling a dexterous hand, thereby improving the coordination and stability of the dexterous hand's movements.

[0029] Reference Figure 2 , Figure 2 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. In some embodiments, the multiple finger controllers 30 include a thumb controller 301, an index finger controller 302, a middle finger controller 303, a ring finger controller 304, and a little finger controller 305; the thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304, and little finger controller 305 each include an independently packaged control module 306.

[0030] In this embodiment, as Figure 2 As shown, the multiple finger controllers 30 consist of a thumb controller 301, an index finger controller 302, a middle finger controller 303, a ring finger controller 304, and a little finger controller 305. Specifically, the thumb controller 301 controls the thumb in the dexterous hand; the index finger controller 302 controls the index finger in the dexterous hand; the middle finger controller 303 controls the middle finger in the dexterous hand; the ring finger controller 304 controls the ring finger in the dexterous hand; and the little finger controller 305 controls the little finger in the dexterous hand.

[0031] The thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304, and little finger controller 305 each include an independently packaged control module 306. There can be multiple control modules 306; that is, each finger controller includes multiple independently packaged control modules 306. Figure 2In the diagram, the control modules in each finger controller are all labeled with the same number, namely control module 306, and in... Figure 2 Only one control module is labeled in the diagram.

[0032] Reference Figure 3 , Figure 3 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. In some embodiments, the thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304 and little finger controller 305 are all connected to the whole hand manager 20.

[0033] In this embodiment, as Figure 3 As shown, the thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304, and little finger controller 305 are all connected to the whole hand manager 20. Specifically, the thumb controller 301 controls the thumb in the dexterous hand; the index finger controller 302 controls the index finger; the middle finger controller 303 controls the middle finger; the ring finger controller 304 controls the ring finger; and the little finger controller 305 controls the little finger. The connection of these controllers to the whole hand manager 20 allows for modular control logic for each finger of the dexterous hand, and all controls can be uniformly registered with the whole hand manager 20, enabling the whole hand manager 20 to uniformly schedule and manage the movements of each finger.

[0034] Reference Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. Figure 4 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. In some embodiments, the thumb controller 301 includes a thumb tip controller 3011 and a thumb root controller 3012, which are respectively connected to the whole hand manager 20.

[0035] In this embodiment, as Figure 3 and Figure 4 As shown, the thumb controller 301 includes a thumb tip controller 3011 and a thumb root controller 3012. The thumb tip controller 3011 controls the tip of the thumb, and the thumb root controller 3012 controls the root of the thumb. The thumb tip controller 3011 and the thumb root controller 3012 are respectively connected to the whole hand manager 20. By controlling the thumb separately, the thumb of a dexterous hand can be made more flexible.

[0036] Reference Figure 2 and Figure 5 , Figure 2 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. Figure 5 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. In some embodiments, the control module 306 includes a position loop control module 3061, a speed loop control module 3062, a current loop control module 3063, a force-position hybrid control module 3064, and a tactile control module 3065.

[0037] In this embodiment, as Figure 2 and Figure 5 As shown, there can be multiple control modules 306; each control module 306 may include a position loop control module 3061, a velocity loop control module 3062, a current loop control module 3063, a force-position hybrid control module 3064, and a tactile control module 3065. For each finger controller, the position loop control module 3061, velocity loop control module 3062, current loop control module 3063, force-position hybrid control module 3064, and tactile control module 3065 are independently packaged.

[0038] The position loop control module 3061 receives a target position command, compares it with the current actual position, calculates the position deviation, and then outputs an adjustment signal to ensure that the actuator accurately reaches or maintains the target position. The speed loop control module 3062 receives a target speed command, compares it with the current actual speed, and adjusts the current to eliminate speed deviation, ensuring that the actuator moves at a uniform speed according to the set speed. The current loop control module 3063 receives a target current command, compares it with the current actual current, and adjusts the voltage or PWM (Pulse Width Modulation) signal to compensate for current deviation in real time, ensuring that actuators such as motors output stable torque. The force-position hybrid control module 3064 controls position and force / torque simultaneously during the same motion process, solving the problem of flexible control in hard contact scenarios. The tactile control module 3065 simulates or senses tactile feedback to achieve flexible interaction with the environment. The position loop control module 3061, speed loop control module 3062, current loop control module 3063, force-position hybrid control module 3064, and tactile control module 3065 work together to achieve three-loop control of each finger.

[0039] Reference Figure 6 , Figure 6 This is a schematic diagram of another embodiment of the dexterous hand control device of this application. In some embodiments, the thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304 and little finger controller 305 all further include an information acquisition module 307, wherein the information acquisition module 307 is used to collect real-time data of each finger.

[0040] In this embodiment, as Figure 6 As shown, each finger of the dexterous hand can be equipped with sensors such as encoders, force sensors, position sensors, and current sensors. The thumb controller 301, index finger controller 302, middle finger controller 303, ring finger controller 304, and little finger controller 305 all also include an information acquisition module 307. Each finger controller can then collect information from the encoders, force sensors, position sensors, and current sensors on each finger through the information acquisition module 307, thereby acquiring real-time data for each finger.

[0041] This application further proposes a dexterous hand control method, referring to... Figure 1 and Figure 7 , Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand control device of this application. Figure 7 This is a flowchart illustrating an embodiment of the dexterous hand control method of this application. In some embodiments, the dexterous hand control method includes: Step S510: Detect whether a control command sent by the host computer has been received; Step S520: Upon receiving a control command from the host computer, the control command is parsed and distributed to the corresponding finger controller via an independent communication channel, so that the finger controller can control the corresponding finger.

[0042] In this embodiment, as Figure 1 and Figure 7 As shown, the dexterous hand control method can be applied to the dexterous hand control device 1. The dexterous hand control device 1 may include a communication interface 10, a whole hand manager 20, and multiple finger controllers 30. The communication interface 10 and the multiple finger controllers 30 are all connected to the whole hand manager 20. In this embodiment, the whole hand manager is the main body executing the method steps.

[0043] The device manager can detect whether control commands are received from the host computer. For example, the device manager can detect the communication interface to see if it has received control commands from the host computer.

[0044] After detecting that the communication interface has received a control command from the host computer, the hand controller can parse the control command and distribute the parsed control command to the corresponding finger controller through an independent communication channel, so that the finger controller can control the corresponding finger. For example, the hand controller can parse the control command to determine at least one finger controller that should execute the control command, and then distribute the control command to the corresponding finger controller through an independent communication channel.

[0045] The technical solution of this application connects multiple finger controllers to the whole hand manager, enabling the whole hand manager to synchronously coordinate and manage each finger controller. This achieves synchronous and coordinated control of each finger or motor when controlling a dexterous hand, thereby improving the coordination and stability of the dexterous hand's movements.

[0046] Reference Figure 8 , Figure 8 This is a flowchart illustrating another embodiment of the dexterous hand control method of this application. In some embodiments, the aforementioned distribution of the parsed control commands to the corresponding finger controllers via independent communication channels includes: Step S530: Determine several target finger controllers for executing control instructions based on the parsing results. The target finger controllers include thumb controller, index finger controller, middle finger controller, ring finger controller, or little finger controller. Step S531: Distribute control commands to each target finger controller.

[0047] In this embodiment, as Figure 8 As shown, when the hand manager executes step S520, it can first determine the target finger controllers. The hand manager can determine several target finger controllers that execute the control command based on the parsing results. These target finger controllers include the thumb controller, index finger controller, middle finger controller, ring finger controller, or little finger controller. For example, the hand manager can parse the control command to determine at least one finger controller that executes the command. Then, it breaks down the control command for each finger controller to obtain the corresponding control sub-instructions. These sub-instructions are then used as the parsing results. At this point, the hand manager can determine several target finger controllers based on the corresponding control sub-instructions; that is, any finger controller with a corresponding control sub-instruction is identified as a target finger controller. For example, if the parsing results include control sub-instructions for the thumb controller, index finger controller, and middle finger controller, the hand manager can identify the thumb controller, index finger controller, and middle finger controller as target finger controllers, resulting in three target finger controllers.

[0048] Once the whole hand manager identifies the target finger controller, it can distribute control commands to each target finger controller. For example, if the three target finger controllers are the thumb controller, index finger controller, and middle finger controller, the whole hand manager can send the control sub-commands corresponding to the thumb controller to the thumb controller; the control sub-commands corresponding to the index finger controller to the index finger controller; and the control sub-commands corresponding to the middle finger controller to the middle finger controller.

[0049] Reference Figure 9, Figure 9 This is a flowchart illustrating another embodiment of the dexterous hand control method of this application. In some embodiments, the aforementioned dexterous hand control method further includes: Step S540: Receive target finger state data generated when each target finger controller executes control commands; Step S541: Integrate the state data of each target finger to obtain the state data of the whole hand, and send the state data of the whole hand to the host computer.

[0050] In this embodiment, as Figure 3 As shown, after executing step S531, the hand manager can also receive target finger state data from each target finger controller. The thumb controller, index finger controller, middle finger controller, ring finger controller, and little finger controller can all include an information acquisition module, which is used to collect real-time data from each finger. Furthermore, each finger of the dexterous hand can be equipped with sensors such as encoders, force sensors, position sensors, and current sensors. Each finger controller can collect information from the encoders, force sensors, position sensors, and current sensors on each finger through the information acquisition module, thereby acquiring real-time data from each finger.

[0051] When executing control commands, each target finger controller can collect real-time data of each target finger through its information acquisition module. Then, each target finger controller uses this real-time data as target finger status data and sends it to the whole hand manager. At this point, the whole hand manager can receive the target finger status data generated by each target finger controller when executing control commands.

[0052] After receiving the target finger state data from each target finger controller, the whole hand manager integrates the target finger state data to obtain the whole hand state data, and finally sends the whole hand state data to the host computer. This allows the host computer to quickly obtain the whole hand state data, thereby realizing closed-loop control and motion monitoring.

[0053] In a preferred embodiment, the thumb controller includes a thumb tip controller and a thumb root controller; after determining a plurality of target finger controllers for executing control commands based on the parsing results, it further includes: Determine whether the target finger controller includes a thumb controller; if it does, analyze the control sub-instructions corresponding to the thumb controller to obtain the thumb tip control instruction and / or thumb root control instruction.

[0054] In this embodiment, the whole hand manager can determine whether the target finger controller includes a thumb controller. If the target finger controller includes a thumb controller, the whole hand manager can further analyze the control sub-instructions corresponding to the thumb controller to obtain thumb tip control instructions and / or thumb root control instructions. The control sub-instructions corresponding to the thumb controller can be used only to control thumb tip movement; or only to control thumb root movement; or to control both thumb tip and thumb root movement.

[0055] The technical solution of this application connects multiple finger controllers to the whole hand manager, enabling the whole hand manager to synchronously coordinate and manage each finger controller. This achieves synchronous and coordinated control of each finger or motor when controlling a dexterous hand, thereby improving the coordination and stability of the dexterous hand's movements.

[0056] This application further proposes a robot, in some embodiments of which the robot includes a robot body and a dexterous hand, the dexterous hand including multiple fingers and the aforementioned dexterous hand control device.

[0057] In this embodiment, the robot includes a robot body and a dexterous hand, which includes multiple fingers and the aforementioned dexterous hand control device. A host computer can be configured on the robot body, allowing the user to send control commands to the dexterous hand control device. Upon receiving the control commands, the dexterous hand control device can control the multiple fingers of the dexterous hand.

[0058] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A dexterous hand control device, characterized in that, The dexterous hand control device includes: A communication interface is provided for connecting to a host computer and receiving control commands sent by the host computer. A hand-controller, which is connected to the communication interface; Multiple finger controllers are provided, and each finger controller has an independent communication channel with the whole hand manager, and a connection is established through the communication channel.

2. The dexterous hand control device according to claim 1, characterized in that, The plurality of finger controllers include a thumb controller, an index finger controller, a middle finger controller, a ring finger controller, and a little finger controller; each of the thumb controller, the index finger controller, the middle finger controller, the ring finger controller, and the little finger controller includes an independently packaged control module.

3. The dexterous hand control device according to claim 2, characterized in that, The thumb controller, index finger controller, middle finger controller, ring finger controller, and little finger controller are all connected to the whole hand manager.

4. The dexterous hand control device according to claim 3, characterized in that, The thumb controller includes a thumb tip controller and a thumb root controller, which are respectively connected to the whole hand manager.

5. The dexterous hand control device according to claim 2, characterized in that, The control module includes a position loop control module, a velocity loop control module, a current loop control module, a force-position hybrid control module, and a tactile control module.

6. The dexterous hand control device according to claim 2, characterized in that, The thumb controller, index finger controller, middle finger controller, ring finger controller, and little finger controller all further include an information acquisition module, wherein the information acquisition module is used to collect real-time data of each finger.

7. A method for controlling a dexterous hand, characterized in that, The dexterous hand control method includes: Detect whether control commands sent by the host computer have been received; Upon receiving a control command from the host computer, the control command is parsed and distributed to the corresponding finger controller via an independent communication channel, so that the finger controller can control the corresponding finger.

8. The dexterous hand control method according to claim 7, characterized in that, The step of distributing the parsed control commands to the corresponding finger controllers via an independent communication channel includes: Based on the analysis results, several target finger controllers are determined to execute the control instructions, wherein the target finger controllers include a thumb controller, an index finger controller, a middle finger controller, a ring finger controller, or a little finger controller. The control commands are distributed to each of the target finger controllers.

9. The dexterous hand control method according to claim 8, characterized in that, The dexterous hand control method also includes: Receive target finger state data generated when each of the target finger controllers executes the control command; The state data of each target finger are integrated to obtain the overall hand state data, and the overall hand state data is sent to the host computer.

10. A robot, characterized in that, The robot includes a robot body and a dexterous hand, the dexterous hand including a plurality of fingers and a dexterous hand control device according to any one of claims 1-6.

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