Bionic hand and control method and control device thereof

Abstract

The application discloses a control method of a bionic hand. The bionic hand comprises a plurality of fingers. The control method of the bionic hand comprises the following steps: controlling corresponding fingers to bend from an initial angle to a first angle according to myoelectric signals on a residual limb surface, each finger corresponding to an initial angle and a first angle; detecting a duration of the myoelectric signals; and controlling the fingers to bend from the first angle to a target angle according to the duration of the myoelectric signals. The control method of the bionic hand disclosed by the application can solve the problem that the fingers of the bionic hand are difficult to control accurately. In addition, the application also discloses a control device of a bionic hand and a bionic hand.

Description

Technical Field

[0001] This invention relates to the field of bionic hand technology, and in particular to a bionic hand and its control method and control device. Background Technology

[0002] In existing bionic hands, each finger is controlled by an independent drive motor to flex and extend. The bending angle of the finger is determined by electromyographic signals that control flexion and extension. When the electromyographic signal ends, the finger automatically returns to the open position. In many applications, such as playing the piano or typing, the fingers do not need to bend significantly; a small bend is sufficient to achieve the best movement effect.

[0003] However, existing bionic hands struggle to precisely control finger movements based on electromyographic signals, affecting the accuracy and comfort of playing the piano or typing. Furthermore, excessive bending requires more time for bending and returning to normal, impacting the efficiency of playing the piano or typing. Summary of the Invention

[0004] The main objective of this invention is to propose a bionic hand and its control method and device, aiming to solve the problem of the difficulty in accurately controlling the fingers of the bionic hand.

[0005] To achieve the above objectives, this invention proposes a control method for a bionic hand, the bionic hand comprising a plurality of fingers, the control method comprising:

[0006] Based on the electromyographic signals on the surface of the residual limb, the corresponding finger is controlled to bend from an initial angle to a first angle, and each finger corresponds to an initial angle and a first angle;

[0007] The duration of the electromyographic signal was detected; and

[0008] The finger is controlled to bend from the first angle to the target angle based on the duration of the electromyographic signal.

[0009] Preferably, before controlling the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb, the control method of the bionic hand further includes:

[0010] The scene mode is determined based on the received trigger information, which includes electromyographic data, motion data and / or control commands corresponding to a specific action. Each scene mode corresponds to a preset angle range of multiple fingers. The endpoints of the preset angle range are the first angle and the second angle, where the second angle is greater than the first angle, and the target angle is located within the preset angle range.

[0011] Preferably, controlling the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal includes:

[0012] A preset mapping relationship between the target duration and the bending angle is obtained based on the scene mode; the preset angle range includes several bending angles; and

[0013] When the duration is detected to match the target duration, the finger is controlled to bend from the first angle to a bending angle corresponding to the target duration.

[0014] Preferably, after controlling the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal, the control method of the bionic hand further includes:

[0015] When the target angle is detected to be equal to the second angle, and an electromyographic signal corresponding to the finger is continuously received, the finger is controlled to maintain at the second angle; and / or

[0016] When the electromyographic signal is detected to be absent, the finger is controlled to bend from the target angle to the initial angle.

[0017] Preferably, the speed at which the finger bends from the initial angle to the first angle is greater than the speed at which the finger bends from the first angle to the target angle.

[0018] Preferably, the step of controlling the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb includes:

[0019] When the duration of the electromyographic signal is detected to be greater than or equal to a preset duration threshold, the corresponding finger is controlled to bend from the initial angle to the first angle.

[0020] The present invention further proposes a control device for a bionic hand, the bionic hand comprising a plurality of fingers, the control device for the bionic hand comprising:

[0021] The first control module is used to control the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb, wherein each finger corresponds to an initial angle and a first angle.

[0022] A detection module is used to detect the duration of the electromyographic signal; and

[0023] The second control module is used to control the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal.

[0024] Preferably, the control device for the bionic hand further includes:

[0025] The determination module is used to determine the scene mode based on the received trigger information. The trigger information includes electromyographic data, motion data and / or control commands corresponding to a specific action. Each scene mode corresponds to a preset angle range of multiple fingers. The endpoints of the preset angle range are the first angle and the second angle. The second angle is greater than the first angle. The target angle is located within the preset angle range.

[0026] Preferably, the first control module includes:

[0027] The first sub-control module is used to control the corresponding finger to bend from the initial angle to the first angle when the duration of the detected electromyographic signal is greater than or equal to a preset duration threshold.

[0028] Preferably, the second control module includes:

[0029] The acquisition module is used to acquire a preset mapping relationship between the target duration and the bending angle according to the scene mode, wherein the preset angle range includes a plurality of bending angles; and

[0030] The second sub-control module is used to control the finger to bend from the first angle to a bending angle corresponding to the target duration when it is detected that the duration matches the target duration.

[0031] Preferably, the control device for the bionic hand further includes:

[0032] A third control module is configured to control the finger to maintain it at the second angle when it detects that the target angle is equal to the second angle and continuously receives an electromyographic signal corresponding to the finger; and / or

[0033] The fourth control module is used to control the finger to bend from the target angle to the initial angle when the electromyographic signal is detected to disappear.

[0034] The present invention further proposes a bionic hand, which includes a bionic hand body and a control device for the bionic hand as described above. The bionic hand body includes a plurality of fingers, and the control device is disposed on the bionic hand body for driving the fingers to bend.

[0035] The technical solution of this invention involves pre-setting an initial angle and a first angle corresponding to the finger. Upon receiving electromyographic signals from the surface of the residual limb, the finger is controlled to bend from the initial angle to the first angle to ensure that the pressing distance meets the initial conditions. Then, based on the duration of the received electromyographic signals, the finger is controlled to gradually bend from the first angle to the target angle, thereby controlling the pressing pressure of the corresponding finger according to the duration of the electromyographic signals. For example, when the finger is at the first angle, the pressing pressure is the lightest; when the finger is at the target angle, the pressing pressure is heavier. Controlling the bending angle of the finger can adjust the pressure sensitivity control accordingly, thereby producing different pressing effects, enabling more precise control of finger movement, and effectively improving control efficiency. Furthermore, since the speed at which the finger bends from the initial angle to the first angle is relatively fast, and the speed at which the finger bends from the first angle to the target angle is relatively slow, the combination of fast and slow movements in the process of controlling the finger effectively improves control efficiency. Attached Figure Description

[0036] Figure 1 A flowchart of the control method for the bionic hand provided in the first embodiment of the present invention;

[0037] Figure 2 A sub-flowchart of the control method for the bionic hand provided in an embodiment of the present invention;

[0038] Figure 3 A flowchart of the control method for the bionic hand provided in the second embodiment of the present invention;

[0039] Figure 4 A flowchart of the control method for the bionic hand provided in the third embodiment of the present invention;

[0040] Figure 5 A schematic diagram of a bionic hand provided in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the control device for the bionic hand provided in the first embodiment of the present invention;

[0043] Figure 8 for Figure 7 A schematic diagram of the first control module of the control device for the bionic hand shown.

[0044] Figure 9 for Figure 7 A schematic diagram of the second control module of the control device for the bionic hand shown.

[0045] Figure 10 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention;

[0046] Figure 11 This is a schematic diagram of the control device for the bionic hand provided in the third embodiment of the present invention;

[0047] Figure 12 This is a schematic diagram of the control device for the bionic hand provided in the fourth embodiment of the present invention;

[0048] Figure 13 This is a schematic diagram of a bionic hand module provided in an embodiment of the present invention.

[0049] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention 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 indication will also change accordingly.

[0052] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0053] Furthermore, the use of terms such as "first" and "second" in this invention 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. 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. When 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 by this invention.

[0054] Please refer to the following: Figure 1 and Figure 5 , Figure 1This is a flowchart of the control method for the bionic hand provided in the first embodiment of the present invention. Figure 5 This is a schematic diagram of a bionic hand provided in an embodiment of the present invention. The control method for the bionic hand is applied to a bionic hand 1, which includes several fingers 21. The control method is used to control the fingers 21 of the bionic hand 1 to perform flexion and extension movements. In this embodiment, the bionic hand 1 is provided with a receiving cavity 30. The bionic hand 1 is fixed to the wearer's arm (residual limb) through the receiving cavity 30, and the cavity wall of the receiving cavity 30 is in contact with the wearer's arm muscles. Multiple electromyographic electrodes (not shown) are disposed on the cavity wall of the receiving cavity 30 of the bionic hand 1. The electromyographic electrodes are used to collect the action potentials generated by the muscles and form electromyographic signals on the surface of the residual limb.

[0055] The bionic hand 1 also includes a control device 10 for performing control methods of the bionic hand, the control device 10 being electrically connected to electromyographic electrodes. The relevant functions of the control device 10 can be implemented by a single device, multiple devices working together, or one or more functional modules within a single device; no specific limitation is made here. It is understood that the aforementioned functions can be network elements in hardware devices, software functions running on dedicated hardware, a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

[0056] The control method for a bionic hand includes the following steps.

[0057] Step S102: Based on the electromyographic signals on the surface of the residual limb, control the corresponding finger to bend from the initial angle to the first angle.

[0058] In this embodiment, the control device 10 is capable of receiving electromyographic (EMG) signals generated by the electromyographic electrodes stimulating the surface of the residual limb. The control device 10 receives the EMG signals sent by the EMG electrodes and controls the corresponding finger 21 to bend from an initial angle to a first angle based on the EMG signals on the surface of the residual limb. Each finger 21 corresponds to an initial angle and a first angle. The initial angle is a pre-set bending angle of the finger 21 when no corresponding EMG signal is received; the first angle is a pre-set bending angle of the finger 21 when a corresponding EMG signal is received. The bending angle can represent the angle formed between the distal portion of the finger 21 (corresponding to the distal phalanx) and the palm plane when the finger 21 bends; the larger the angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the bending angle can also represent the angle formed between any part of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 bends. The initial angles corresponding to different fingers 21 can be the same or different; the first angles corresponding to different fingers 21 can be the same or different. The initial angle can be preset by the wearer according to usage habits or personal preferences. Alternatively, the initial angle can be generated by analyzing the corresponding electromyographic data and curvature data extracted from multiple training sessions. No limitation is made here.

[0059] In some embodiments, controlling the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signal on the surface of the residual limb includes: when the duration of the electromyographic signal is detected to be greater than or equal to a preset duration threshold, controlling the corresponding finger to bend from the initial angle to the first angle.

[0060] In this embodiment, after receiving the electromyographic (EMG) signal, the control device 10 also detects the duration of the EMG signal. Upon receiving the EMG signal, the control device 10 records the corresponding reception time and calculates the duration of the EMG signal. The control device 10 determines whether the duration of the EMG signal is greater than or equal to a preset duration threshold. When the duration of the EMG signal is greater than or equal to the preset duration threshold, it indicates that the received EMG signal is a valid control signal, and the control device 10 controls the finger 21 corresponding to the EMG signal to bend from the initial angle to the first angle. By detecting the duration of the received EMG signal and controlling the finger 21 to bend only when the duration is greater than or equal to the duration threshold, the control device 10 can avoid erroneous operations caused by fluctuations in the EMG signal. The preset duration threshold can be set according to the actual control situation and is not limited here.

[0061] In some embodiments, before controlling the corresponding finger to bend from an initial angle to a first angle based on electromyographic signals on the surface of the residual limb, the bionic hand control method further includes: determining a scene mode based on received trigger information.

[0062] In this embodiment, the control device 10 receives and identifies trigger information to obtain a scene mode corresponding to the trigger information. The control device 10 can control the bionic hand 1 to enter the corresponding scene mode. In a specific scene mode, the control device 10 can only control the corresponding finger 1 to move. Specifically, the scene mode may include a piano playing scene, a typing scene, a writing scene, a grasping scene, etc. Each scene mode corresponds to a preset angle range of multiple fingers 21. The preset angle range is used to limit the range of motion of the finger 21 when it bends. The endpoints of the preset angle range are a first angle and a second angle, where the second angle is greater than the first angle, and the target angle is within the preset angle range. It can be understood that the target angle is greater than or equal to the first angle, and the target angle is less than or equal to the second angle.

[0063] Trigger information includes electromyographic (EMG) data, motion data, and / or control commands corresponding to specific actions. Trigger information can be any one of EMG data, motion data, and control commands, or a combination of any two or three of these. Specific actions can be specific hand gestures, such as all fingers 21 of the bionic hand 1 rapidly making two consecutive clenching and opening fist movements, a single specific finger 21 of the bionic hand 1 repeatedly making rapid bending and opening movements, or wrist rotation movements of the bionic hand 1. The wearer can generate EMG data as trigger information by performing specific hand gestures; the wearer can generate motion data as trigger information by performing specific hand gestures; and the wearer can also send control commands via external devices as trigger information.

[0064] Specifically, when the wearer makes a specific hand gesture, the electromyographic electrodes collect the electromyographic signals and aggregate them into electromyographic data, which is then sent to the control device 10 as trigger information. The bionic hand 1 also includes an inertial measurement unit (IMU) that is communicatively connected to the control device 10. When the wearer makes a specific hand gesture, the inertial sensor collects the data and aggregates it into motion data, which is then sent to the control device 10 as trigger information. The control device 10 is also communicatively connected to an external device. When the wearer generates a control command through the external device, the external device sends the control command as trigger information to the control device 10.

[0065] In this embodiment, each finger 21 corresponds to an initial angle in each scene mode. Within the same scene mode, the initial angles corresponding to different fingers 21 can be the same or different; within different scene modes, the initial angles corresponding to the same finger 21 can be the same or different. The optimal flexion and extension angle range for each finger 21 when bending is preset in different scene modes, i.e., the preset angle range. Within the same scene mode, the preset angle ranges corresponding to different fingers 21 can be the same or different; within different scene modes, the preset angle ranges corresponding to the same finger 21 can be the same or different. The specific sizes of the preset angle ranges, i.e., the first angle and the second angle, can be preset by the wearer according to usage habits or personal preferences, or can be generated by analyzing electromyographic data and finger 21 bending data extracted during control training, etc., and are not limited here. However, regardless of how the initial angle and the preset angle range are set, within one scene mode, one finger 21 corresponds to only one initial angle and one preset angle range.

[0066] For example, if the current scene mode of the bionic hand 1 is typing, in the typing scene, the initial angle of all fingers 21 is 180°, and the preset angle range of the index finger is 5-20°, where the first angle is 5° and the second angle is 20°. It can be understood that when all fingers 21 are at their initial angles, the bionic hand 1 is in a clenched fist state. When the electromyographic signal type is detected as an index finger signal, the control device 10 controls the index finger of the bionic hand 1 to bend from 180° to 5°, that is, the bionic hand 1 changes from a clenched fist state to an extended index finger state. If the current scene mode of the bionic hand 1 is playing the piano, in the piano playing scene, the initial angle of all fingers 21 is 0°, and the preset angle range of the index finger is 5-30°, where the first angle is 5° and the second angle is 30°. It can be understood that when all fingers 21 are at their initial angles, the bionic hand 1 is in an extended state. When the electromyographic signal is detected to be of the index finger type, the control device 10 controls the index finger of the bionic hand 1 to bend from 0° to 5°, that is, the bionic hand 1 changes from an extended state to a state in which only the index finger is bent.

[0067] In some embodiments, the control device 10 can acquire a scene mode corresponding to a specific action when it detects that the trigger information matches the specific action. Specifically, the control device 10 matches the received trigger information with a pre-set specific action. When the trigger information matches the specific action, the control device 10 acquires the scene mode corresponding to the specific action. It is understood that the control device 10 only needs to match the trigger information with the specific action when the trigger information is electromyographic data or motion data; when the trigger information is a control command, the control device 10 directly acquires the corresponding scene mode according to the control command. That is to say, the control command can directly control the bionic hand 1 to enter the corresponding scene mode, and each control command corresponds to one scene mode. The specific correspondence between the specific action and the scene mode can be set by the wearer and is not limited here. The specific action can be different from the routine daily actions of the bionic hand 1 to avoid the wearer accidentally triggering the specific scene mode during daily activities.

[0068] Step S104: Detect the duration of the electromyographic signal.

[0069] In this embodiment, the control device 10 detects the duration of the electromyographic signal. Specifically, upon receiving an electromyographic signal, the control device 10 records the corresponding reception time and calculates the duration of the electromyographic signal.

[0070] Step S106: Control the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal.

[0071] In this embodiment, the control device 10 controls the finger 21 to bend from a first angle to a target angle based on the duration of the electromyographic signal. The target angle is the desired bending angle of the finger 21 during movement, meaning that the finger 21 will not bend further after reaching the target angle.

[0072] The specific process of controlling the finger to bend from a first angle to a target angle based on the duration of electromyographic signals will be described in detail below.

[0073] In some embodiments, the speed at which finger 21 bends from an initial angle to a first angle is greater than the speed at which finger 21 bends from the first angle to a target angle.

[0074] In this embodiment, the speed at which the control device 10 controls the finger 21 to bend from an initial angle to a first angle is recorded as the first speed, and the speed at which the control device 10 controls the finger 21 to bend from the first angle to a target angle is recorded as the second speed. The first speed is greater than the second speed. It can be understood that the speed at which the finger 21 bends from the initial angle to the first angle is relatively fast, and the speed at which the finger 21 bends from the first angle to the target angle is relatively slow. The combination of fast and slow movements of the finger 21 can effectively improve control efficiency.

[0075] For example, when the type of electromyographic signal detected is an index finger signal, the control device 10 controls the index finger to quickly reach the first angle within the corresponding preset angle range from the initial angle. After the index finger reaches the first angle, if the index finger signal is still continuously received, the control device 10 controls the index finger to continue to bend slowly within the preset angle range until it bends to the target angle.

[0076] During the control of finger flexion and extension, a small bending angle may result in insufficient pressing distance; a large bending angle may cause inconvenience due to excessive bending, affecting control efficiency. In this embodiment, an initial angle and a first angle corresponding to the finger are preset. Upon receiving electromyographic signals from the surface of the residual limb, the finger is controlled to bend from the initial angle to the first angle to ensure the pressing distance meets the initial conditions. Then, based on the duration of the received electromyographic signals, the finger is controlled to gradually bend from the first angle to the target angle, thereby controlling the pressing pressure of the corresponding finger according to the duration of the electromyographic signals. For example, when the finger is at the first angle, the pressing pressure is lightest; when the finger is at the target angle, the pressing pressure is heavier. Controlling the finger bending angle can adjust the pressure sensitivity control accordingly, producing different pressing effects, enabling more precise control of finger movement, and effectively improving control efficiency. For example, when playing the piano, different finger bending angles result in different pressing pressures, producing different volumes.

[0077] Please refer to the following: Figure 2 This is a sub-flowchart of the bionic hand control method provided in the embodiments of the present invention. Step S106 specifically includes the following steps.

[0078] Step S202: Obtain the preset mapping relationship between the target duration and the bending angle according to the scene mode.

[0079] In this embodiment, the control device 10 obtains a preset mapping relationship between the corresponding target duration and bending angle according to the scene mode. The preset angle range includes several bending angles. It should be noted that since each scene mode corresponds to multiple preset angle ranges for multiple fingers 21, and each preset angle range corresponds to a preset mapping relationship between the target duration and bending angle, each scene mode corresponds to multiple preset mapping relationships between the target duration and bending angle; within each scene mode, each finger 21 corresponds to one preset mapping relationship between the target duration and bending angle.

[0080] Specifically, the control device 10 pre-sets a mapping relationship between target duration and bending angle for different fingers 21 under different scene modes. The target duration is a number of equally spaced time nodes, and the bending angle is a number of equally spaced angle values ​​within a preset angle range. One target duration corresponds to one bending angle. However, the target duration can also be non-equally spaced time nodes, and the bending angle can also be non-equally spaced angle values. The specific mapping relationship between the target duration and the bending angle can be set according to the actual control situation and is not limited here.

[0081] For example, in a certain scene mode, the preset angle range of the index finger is 0-20°; the bending angles are set to 5°, 10°, 15°, and 20°, with target durations of 0.02 milliseconds, 0.04 milliseconds, 0.06 milliseconds, and 0.08 milliseconds, respectively. The preset mapping relationship between the target duration and bending angle of the index finger in this scene mode is constructed as follows: 0.02 milliseconds corresponds to 5°, 0.04 milliseconds corresponds to 10°, 0.06 milliseconds corresponds to 15°, and 0.08 milliseconds corresponds to 20°.

[0082] Step S204: When the duration of the test is detected to match the target duration, the finger is controlled to bend from the first angle to the bending angle corresponding to the target duration.

[0083] In this embodiment, when the duration corresponds to one of the target durations, the control device 10 controls the finger 21 to bend from a first angle to a bending angle corresponding to the target duration. It can be understood that the target angle is the bending angle corresponding to the target duration. During the detection process, when the duration matches a target duration, the control device 10 controls the finger 21 to bend to the corresponding bending angle; when the duration increases to match the next target duration, the control device 10 controls the finger 21 to bend from the current bending angle to the next bending angle. That is, the control device 10 can progressively control the degree of bending of the finger 21 according to the duration; as the duration increases, the degree of bending of the finger 21 increases; or, as the duration increases, the degree of bending of the finger 21 decreases.

[0084] For example, in the above scenario mode, when the duration of the detected index finger signal is less than 0.02 milliseconds, the control device 10 controls the index finger to remain at 0°; when the duration of the detected index finger signal reaches 0.02 milliseconds, the control device 10 controls the index finger to bend from 0° to 5°; when the duration of the detected index finger signal reaches 0.04 milliseconds, the control device 10 controls the index finger to bend from 5° to 10°.

[0085] In this embodiment, a pre-defined mapping relationship between target duration and bending angle for different fingers under different scenario modes is established. During actual control, the duration of the received electromyographic signal is matched with the corresponding target duration to control the finger to bend to the corresponding bending angle. As the duration increases, the bending angle of the finger gradually increases; or, as the duration increases, the bending angle of the finger gradually decreases, thereby enabling more precise control of the degree of finger bending and making the control of finger pressure more consistent with the corresponding scenario mode.

[0086] Please refer to the following: Figure 3 This is a flowchart of the control method for the bionic hand provided in the second embodiment of the present invention. After executing step S106, the control method for the bionic hand further includes the following steps.

[0087] In step S108, when the target angle is detected to be equal to the second angle and electromyographic signals corresponding to the finger are continuously received, the finger is controlled to maintain the second angle.

[0088] In this embodiment, during the control of finger 21 movement, the control device 10 detects the bending angle of finger 21. When finger 21 is bent to a corresponding second angle based on the duration of the electromyographic signal, the control device 10 maintains the bending angle of finger 21 at the corresponding second angle. It can be understood that regardless of the duration of the electromyographic signal corresponding to finger 21, the maximum bending angle of finger 21 is always the corresponding second angle. That is, finger 21 can only bend within a pre-set preset angle range; when the bending angle of finger 21 reaches its maximum value, i.e., the second angle, the bending angle of finger 21 is maintained at its maximum value. By maintaining finger 21 at the second angle while still receiving the corresponding electromyographic signal, the device effectively avoids excessive bending of finger 21 due to fluctuations or excessive duration of the electromyographic signal.

[0089] For example, if the current scene mode of the bionic hand 1 is a typing scene, the preset angle range of the index finger in the typing scene is 5-20°. According to the duration of the index finger signal, the control device 10 controls the index finger of the bionic hand 1 to bend to 20°. If the index finger signal is still received, the control device 10 controls the bending angle of the index finger to remain at 20°.

[0090] Please refer to the following: Figure 4 This is a flowchart of the control method for the bionic hand provided in the third embodiment of the present invention. After executing step S106, the control method for the bionic hand further includes the following steps.

[0091] Step S109: When the electromyographic signal disappears, control the finger to bend from the target angle to the initial angle.

[0092] In this embodiment, after the control device 10 controls the corresponding finger 21 to bend according to the electromyographic signal, if the electromyographic signal corresponding to the bent finger 21 disappears, that is, when the corresponding electromyographic signal is no longer detected, the control device 10 controls the bent finger 21 to bend from the target angle to the initial angle corresponding to the finger 21.

[0093] In this embodiment, when the bending angle of the finger reaches the maximum value of the preset angle range, i.e., the second angle, if the electromyographic signal corresponding to the finger is still received, the finger is controlled to maintain the second angle, which can effectively avoid the phenomenon of excessive bending of the finger leading to excessive pressing pressure; if the electromyographic signal corresponding to the finger disappears, the finger is controlled to return to the initial angle and return to the original state, so that the control of the finger is more in line with the corresponding scenario mode.

[0094] Please refer to the following: Figure 6 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention. The present invention also proposes a control device 10, which can be a computing device such as a desktop computer, laptop, handheld computer, or server. The control device 10 may include: a processor 1001 (e.g., CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize communication between these components. The user interface 1003 may include a display screen and an input unit, such as a keyboard; the user interface 1003 may also include standard wired interfaces and wireless interfaces. The network interface 1004 may include standard wired interfaces and wireless interfaces (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as disk storage; the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0095] Those skilled in the art will understand that Figure 6 The structure of the control device 10 shown does not constitute a limitation on the control device 10. The control device 10 may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0096] like Figure 6 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and computer-executable instructions.

[0097] exist Figure 6In the control device 10 shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate with the client; and the processor 1001 can be used to call the computer-executable instructions stored in the memory 1005. When the computer-executable instructions are called and executed by the processor 1001, the steps of the above-mentioned bionic hand control method are implemented.

[0098] Based on the computer-executable instructions proposed in the foregoing embodiments, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the bionic hand control method described in the foregoing embodiments.

[0099] Please refer to the following: Figure 7 This is a schematic diagram of the control device for the bionic hand provided in the first embodiment of the present invention. The control device 40 for the bionic hand includes a first control module 41, a detection module 42, and a second control module 43.

[0100] The first control module 41 is used to control the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb.

[0101] In this embodiment, the first control module 41 can receive electromyographic signals generated by electromyographic electrodes stimulating the surface of the residual limb. The first control module 41 receives the electromyographic signals sent by the electromyographic electrodes and controls the finger 21 corresponding to the electromyographic signal to bend from an initial angle to a first angle according to the electromyographic signal on the surface of the residual limb. Each finger 21 corresponds to an initial angle and a first angle. The initial angle is a preset bending angle of the finger 21 when no corresponding electromyographic signal is received; the first angle is a preset bending angle of the finger 21 when a corresponding electromyographic signal is received. The bending angle can represent the angle formed between the distal part of the finger 21 (corresponding to the distal phalanx) and the palm plane when the finger 21 is bent; the larger the angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the bending angle can also represent the angle formed between any part of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 is bent. The initial angles corresponding to different fingers 21 can be the same or different; the first angles corresponding to different fingers 21 can be the same or different. The initial angle can be preset by the wearer according to usage habits or personal preferences. Alternatively, the initial angle can be generated by analyzing the corresponding electromyographic data and curvature data extracted from multiple training sessions. No limitation is made here.

[0102] The detection module 42 is used to detect the duration of electromyographic signals.

[0103] In this embodiment, the detection module 42 detects the duration of the electromyographic signal. Specifically, when an electromyographic signal is received, the detection module 42 records the corresponding reception time and calculates the duration of the electromyographic signal.

[0104] The second control module 43 is used to control the finger to bend from a first angle to a target angle based on the duration of the electromyographic signal.

[0105] In this embodiment, the second control module 43 controls the finger 21 to bend from a first angle to a target angle based on the duration of the electromyographic signal. The target angle is the desired bending angle of the finger 21 during movement, meaning that the finger 21 will not bend further after reaching the target angle.

[0106] Please refer to the following: Figure 8 This is a schematic diagram of the first control module of the bionic hand control device provided in the first embodiment of the present invention. The first control module 41 includes a first sub-control module 411.

[0107] The first sub-control module 411 is used to control the corresponding finger to bend from the initial angle to the first angle when the duration of the detected electromyographic signal is greater than or equal to a preset duration threshold.

[0108] In this embodiment, after receiving the electromyographic (EMG) signal, the first sub-control module 411 also detects the duration of the EMG signal. Upon receiving the EMG signal, the first sub-control module 411 records the corresponding reception time and calculates the duration of the EMG signal. The first sub-control module 411 determines whether the duration of the EMG signal is greater than or equal to a preset duration threshold. When the duration of the EMG signal is greater than or equal to the preset duration threshold, it indicates that the received EMG signal is a valid control signal, and the first sub-control module 411 controls the finger 21 corresponding to the EMG signal to bend from the initial angle to the first angle. The first sub-control module 411 detects the duration of the received EMG signal, and only controls the finger 21 to bend after the duration is greater than or equal to the duration threshold, which can avoid erroneous operation caused by fluctuations in the EMG signal. The preset duration threshold can be set according to the actual control situation and is not limited here.

[0109] Please refer to the following: Figure 9 This is a schematic diagram of the second control module of the bionic hand control device provided in the first embodiment of the present invention. The second control module 43 includes an acquisition module 431 and a second sub-control module 432.

[0110] The acquisition module 431 is used to obtain the preset mapping relationship between the target duration and the bending angle according to the scene mode.

[0111] In this embodiment, the acquisition module 431 acquires a preset mapping relationship between the target duration and the bending angle according to the scene mode. The preset angle range includes several bending angles. It should be noted that since each scene mode corresponds to multiple preset angle ranges for multiple fingers 21, and each preset angle range corresponds to a preset mapping relationship between the target duration and the bending angle, each scene mode corresponds to multiple preset mapping relationships between the target duration and the bending angle; within each scene mode, each finger 21 corresponds to one preset mapping relationship between the target duration and the bending angle.

[0112] Specifically, the acquisition module 431 pre-sets a mapping relationship between target duration and bending angle for different fingers 21 under different scene modes. The target duration is a number of equally spaced time nodes, and the bending angle is a number of equally spaced angle values ​​within a preset angle range. One target duration corresponds to one bending angle. However, the target duration can also be non-equally spaced time nodes, and the bending angle can also be non-equally spaced angle values. The specific mapping relationship between the target duration and bending angle can be set according to the actual control situation and is not limited here.

[0113] The second sub-control module 432 is used to control the finger to bend from a first angle to a bending angle corresponding to the target duration when the duration is detected to match the target duration.

[0114] In this embodiment, when the duration corresponds to one of the target durations, the second sub-control module 432 controls the finger 21 to bend from a first angle to a bending angle corresponding to the target duration. It can be understood that the target angle is the bending angle corresponding to the target duration. During the detection process, when the duration matches a target duration, the second sub-control module 432 controls the finger 21 to bend to the corresponding bending angle; when the duration increases to match the next target duration, the second sub-control module 432 controls the finger 21 to bend from the current bending angle to the next bending angle. That is, the second sub-control module 432 can progressively control the degree of bending of the finger 21 according to the duration; as the duration increases, the degree of bending of the finger 21 increases; or, as the duration increases, the degree of bending of the finger 21 decreases.

[0115] Please refer to the following: Figure 10 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention. The control device 40 for the bionic hand also includes a determination module 44.

[0116] The determination module 44 is used to determine the scene mode based on the received trigger information.

[0117] In this embodiment, the determining module 44 receives and identifies the trigger information to obtain a scene mode corresponding to the trigger information. The determining module 44 can control the bionic hand 1 to enter the corresponding scene mode. In a specific scene mode, the determining module 44 can only control the corresponding finger 1 to move. Specifically, the scene mode may include a piano playing scene, a typing scene, a writing scene, a grasping scene, etc. Each scene mode corresponds to a preset angle range of multiple fingers 21. The preset angle range is used to limit the range of motion of the finger 21 when it bends. The endpoints of the preset angle range are a first angle and a second angle, where the second angle is greater than the first angle, and the target angle is within the preset angle range. It can be understood that the target angle is greater than or equal to the first angle, and the target angle is less than or equal to the second angle.

[0118] Trigger information includes electromyographic (EMG) data, motion data, and / or control commands corresponding to specific actions. Trigger information can be any one of EMG data, motion data, and control commands, or a combination of any two or three of these. Specific actions can be specific hand gestures, such as all fingers 21 of the bionic hand 1 rapidly making two consecutive clenching and opening fist movements, a single specific finger 21 of the bionic hand 1 repeatedly making rapid bending and opening movements, or wrist rotation movements of the bionic hand 1. The wearer can generate EMG data as trigger information by performing specific hand gestures; the wearer can generate motion data as trigger information by performing specific hand gestures; and the wearer can also send control commands via external devices as trigger information.

[0119] Specifically, when the wearer makes a specific hand gesture, the electromyographic electrodes collect the electromyographic signals and aggregate them into electromyographic data, which is then sent to the determination module 44 as trigger information. The bionic hand 1 also includes an inertial measurement unit (IMU) that is communicatively connected to the determination module 44. When the wearer makes a specific hand gesture, the inertial sensor collects the data and aggregates it into motion data, which is then sent to the determination module 44 as trigger information. The determination module 44 is also communicatively connected to an external device. When the wearer generates control commands through the external device, the external device sends the control commands as trigger information to the determination module 44.

[0120] In this embodiment, each finger 21 corresponds to an initial angle in each scene mode. Within the same scene mode, the initial angles corresponding to different fingers 21 can be the same or different; within different scene modes, the initial angles corresponding to the same finger 21 can be the same or different. The optimal flexion and extension angle range for each finger 21 when bending is preset in different scene modes, i.e., the preset angle range. Within the same scene mode, the preset angle ranges corresponding to different fingers 21 can be the same or different; within different scene modes, the preset angle ranges corresponding to the same finger 21 can be the same or different. The specific sizes of the preset angle ranges, i.e., the first angle and the second angle, can be preset by the wearer according to usage habits or personal preferences, or can be generated by analyzing electromyographic data and finger 21 bending data extracted during control training, etc., and are not limited here. However, regardless of how the initial angle and the preset angle range are set, within one scene mode, one finger 21 corresponds to only one initial angle and one preset angle range.

[0121] Please refer to the following: Figure 11 This is a schematic diagram of the control device for the bionic hand provided in the third embodiment of the present invention. The control device 40 for the bionic hand also includes a third control module 45.

[0122] The third control module 45 is used to control the finger to maintain the second angle when the target angle is detected to be equal to the second angle and the electromyographic signal corresponding to the finger is continuously received.

[0123] In this embodiment, during the control of finger 21 movement, the third control module 45 detects the bending angle of finger 21. When the finger 21 is controlled to bend to the corresponding second angle based on the duration of the electromyographic signal, the third control module 45 controls the bending angle of finger 21 to be maintained at the corresponding second angle. It can be understood that regardless of the duration of the electromyographic signal corresponding to finger 21, the maximum bending angle of finger 21 is always the corresponding second angle. That is, finger 21 can only bend within a pre-set preset angle range; when the bending angle of finger 21 reaches its maximum value, i.e., the second angle, the bending angle of finger 21 is maintained at its maximum value. By receiving the corresponding electromyographic signal even after finger 21 is at the second angle, maintaining finger 21 at the second angle effectively avoids excessive bending of finger 21 due to fluctuations in the electromyographic signal or excessive duration.

[0124] Please refer to the following: Figure 12 This is a schematic diagram of the control device for the bionic hand provided in the fourth embodiment of the present invention. The control device 40 for the bionic hand also includes a fourth control module 46.

[0125] The fourth control module 46 is used to control the finger to bend from the target angle to the initial angle when the electromyographic signal is detected to disappear.

[0126] In this embodiment, after the corresponding finger 21 is bent according to the electromyographic signal, if the fourth control module 46 detects that the electromyographic signal corresponding to the bent finger 21 has disappeared, that is, when the corresponding electromyographic signal is no longer detected, the fourth control module 46 controls the bent finger 21 to bend from the target angle to the initial angle corresponding to the finger 21.

[0127] Please refer to the following: Figure 13 This is a schematic diagram of the bionic hand provided in an embodiment of the present invention. The bionic hand 1 includes a bionic hand body 20 and a bionic hand control device 40. The bionic hand body 20 includes a plurality of fingers 21. The control device 40 is disposed on the bionic hand body 20 and is used to drive the fingers 21 to bend.

[0128] In this embodiment, the bionic hand body 20 is provided with a receiving cavity, and multiple electromyographic electrodes are disposed on the cavity wall. The control device 40 is electrically connected to the electromyographic electrodes. The bionic hand 1 is fixed to the wearer's arm (residual limb) through the receiving cavity. The cavity wall is in contact with the wearer's arm muscles. The electromyographic electrodes can collect the action potential generated by the muscles, form electromyographic signals on the surface of the residual limb, and send the electromyographic signals to the control device 40.

[0129] In some embodiments, the bionic hand 1 further includes an inertial sensor disposed on the bionic hand body 20. The inertial sensor is communicatively connected to the control device 40. The inertial sensor can collect motion data generated by the wearer controlling the bionic hand 1 to move, and send the motion data to the control device 40.

[0130] In some embodiments, the control device 40 can also communicate with an external device. The wearer can send control commands to the control device 40 via the external device. The external device can be a smartphone, tablet, laptop, desktop computer, or smartwatch, etc.

[0131] The specific structure of the control device 40 is as described in the above embodiments. Since the bionic hand 1 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0132] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A method for controlling a bionic hand, the bionic hand comprising a plurality of fingers, characterized in that, The control method for the bionic hand includes: Based on the electromyographic signals on the surface of the residual limb, the corresponding finger is controlled to bend from an initial angle to a first angle, and each finger corresponds to an initial angle and a first angle; The duration of the electromyographic signal was detected; and The finger is flexed from the first angle to the target angle based on the duration of the electromyographic signal. Wherein, the speed at which the finger bends from the initial angle to the first angle is greater than the speed at which the finger bends from the first angle to the target angle; Before controlling the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb, the control method of the bionic hand further includes: The scene mode is determined based on the received trigger information. The trigger information includes electromyographic data, motion data and / or control commands corresponding to a specific action. Each scene mode corresponds to a preset angle range of multiple fingers. The endpoints of the preset angle range are the first angle and the second angle. The second angle is greater than the first angle. The target angle is located within the preset angle range. The step of controlling the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal includes: A preset mapping relationship between the target duration and the bending angle is obtained based on the scene mode; the preset angle range includes several bending angles; and When the duration is detected to match the target duration, the finger is controlled to bend from the first angle to a bending angle corresponding to the target duration.

2. The control method for the bionic hand according to claim 1, characterized in that, After controlling the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal, the control method of the bionic hand further includes: When the target angle is detected to be equal to the second angle, and an electromyographic signal corresponding to the finger is continuously received, the finger is controlled to maintain at the second angle; and / or When the electromyographic signal is detected to be absent, the finger is controlled to bend from the target angle to the initial angle.

3. The control method for the bionic hand according to claim 1, characterized in that, The step of controlling the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb includes: When the duration of the electromyographic signal is detected to be greater than or equal to a preset duration threshold, the corresponding finger is controlled to bend from the initial angle to the first angle.

4. A control device for a bionic hand, the bionic hand comprising a plurality of fingers, characterized in that, The control device for the bionic hand includes: The first control module is used to control the corresponding finger to bend from an initial angle to a first angle based on the electromyographic signals on the surface of the residual limb, wherein each finger corresponds to an initial angle and a first angle. A detection module is used to detect the duration of the electromyographic signal; and The second control module is used to control the finger to bend from the first angle to the target angle based on the duration of the electromyographic signal. The control device for the bionic hand also includes: The determination module is used to determine the scene mode based on the received trigger information. The trigger information includes electromyographic data, motion data and / or control commands corresponding to a specific action. Each scene mode corresponds to a preset angle range of multiple fingers. The endpoints of the preset angle range are the first angle and the second angle. The second angle is greater than the first angle. The target angle is located within the preset angle range. The second control module includes: The acquisition module is used to acquire a preset mapping relationship between the target duration and the bending angle according to the scene mode, wherein the preset angle range includes a plurality of bending angles; and The second sub-control module is used to control the finger to bend from the first angle to a bending angle corresponding to the target duration when it is detected that the duration matches the target duration.

5. The control device for the bionic hand according to claim 4, characterized in that, The first control module includes: The first sub-control module is used to control the corresponding finger to bend from the initial angle to the first angle when the duration of the detected electromyographic signal is greater than or equal to a preset duration threshold.

6. The control device for the bionic hand according to claim 4, characterized in that, The control device for the bionic hand also includes: A third control module is configured to control the finger to maintain it at the second angle when it detects that the target angle is equal to the second angle and continuously receives an electromyographic signal corresponding to the finger; and / or The fourth control module is used to control the finger to bend from the target angle to the initial angle when the electromyographic signal is detected to disappear.

7. A bionic hand, characterized in that, The bionic hand includes a bionic hand body and a control device for the bionic hand as described in any one of claims 4 to 6. The bionic hand body includes a plurality of fingers, and the control device is disposed on the bionic hand body for driving the fingers to bend.

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