Bionic hand control method and device based on scene selection, and bionic hand

Abstract

The application discloses a bionic hand control method based on scene selection. The bionic hand comprises several fingers. The bionic hand control method based on scene selection comprises the following steps: identifying a scene mode corresponding to received trigger information. The trigger information comprises electromyographic data, motion data and / or control instructions corresponding to a specific action. Each scene mode corresponds to a preset angle range of multiple fingers. The fingers corresponding to the received electromyographic signals are controlled to bend in the scene mode. The bending angle of the fingers is within the corresponding preset angle range. The bionic hand control method based on scene selection disclosed by the application can solve the problem that it is difficult to accurately control the fingers of the bionic hand. 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 control method and device based on scene selection, and a bionic hand. Background Technology

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

[0003] However, the fingers of existing bionic hands are difficult to control precisely, which affects the accuracy and comfort of playing the piano or typing. At the same time, if the fingers are excessively bent, more bending and returning time is required, thus affecting 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 control method and device based on scene selection, and a bionic hand, aiming to solve the problem of difficulty in accurately controlling the fingers of a bionic hand.

[0005] To achieve the above objectives, this invention proposes a scene-selection-based bionic hand control method, wherein the bionic hand includes several fingers, and the scene-selection-based bionic hand control method includes:

[0006] Identify the scene mode corresponding to the received trigger information, wherein the trigger information includes electromyographic data, motion data, and / or control commands corresponding to a specific action, and each scene mode corresponds to a preset angle range of multiple fingers; and

[0007] In the scene mode, the finger corresponding to the received electromyographic signal is controlled to bend, and the bending angle of the finger is within a corresponding preset angle range.

[0008] Preferably, controlling the bending of the finger corresponding to the received electromyographic signal in the scene mode includes:

[0009] Based on the electromyographic signals, the corresponding finger is controlled to bend from an initial angle to the minimum angle within the preset angle range; and

[0010] When the bending angle of the finger reaches the maximum angle of the preset angle range and an electromyographic signal corresponding to the finger is continuously received, the bending angle of the finger is controlled to be maintained at the maximum angle.

[0011] Preferably, the speed at which the finger bends from the initial angle to the minimum angle within the preset angle range is greater than the speed at which the finger bends within the preset angle range.

[0012] Preferably, after controlling the finger corresponding to the received electromyographic signal to bend in the scene mode, the scene-selection-based bionic hand control method further includes:

[0013] When the electromyographic signal corresponding to the bent finger disappears, the bent finger is controlled to bend to the corresponding initial angle.

[0014] Preferably, the bending speed of the bent finger to the corresponding initial angle is greater than the bending speed of the finger within the corresponding preset angle range.

[0015] Preferably, controlling the bending of the finger corresponding to the received electromyographic signal in the scene mode includes:

[0016] When a specific finger is detected in the scene mode, it is determined whether the received electromyographic signal corresponds to the specific finger;

[0017] When the received electromyographic signal corresponds to a specific finger, the specific finger is controlled to remain stationary; and

[0018] When the received electromyographic signal does not correspond to the specific finger, the corresponding finger is controlled to bend according to the electromyographic signal.

[0019] 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:

[0020] The recognition module identifies the scene mode corresponding to 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 for multiple fingers.

[0021] The first control module controls the fingers corresponding to the received electromyographic signals to bend in the scene mode, and the bending angle of the fingers is within a corresponding preset angle range.

[0022] Preferably, the first control module includes:

[0023] The first sub-control module is used to control the corresponding finger to bend from an initial angle to the minimum angle within the preset angle range based on the electromyographic signals; and

[0024] The second sub-control module is used to control the bending angle of the finger to be maintained at the maximum angle when the bending angle of the finger reaches the maximum angle of the preset angle range and when it continuously receives electromyographic signals corresponding to the finger.

[0025] Preferably, the control device for the bionic hand further includes:

[0026] The second control module is used to control the bent finger to bend to the corresponding initial angle when the electromyographic signal corresponding to the bent finger disappears.

[0027] 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.

[0028] The technical solution of this invention is as follows: Based on the received trigger information, the corresponding scene mode is identified. In the scene mode, the corresponding finger is controlled to bend to the corresponding preset angle range according to the received electromyographic signal, so as to ensure that the finger only bends within the corresponding preset angle range, which can more accurately control the movement of the finger and effectively improve the control efficiency. Attached Figure Description

[0029] Figure 1 A flowchart of a scene-selection-based bionic hand control method provided in an embodiment of the present invention;

[0030] Figure 2 This is a first sub-flowchart of the scene-selection-based bionic hand control method provided in an embodiment of the present invention;

[0031] Figure 3 This is a second sub-flowchart of the scene-selection-based bionic hand control method provided in an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of a bionic hand provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the control device for the bionic hand provided in the first embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention;

[0036] Figure 8 for Figure 6 A schematic diagram of the first control module of the control device for the bionic hand shown.

[0037] Figure 9 This is a schematic diagram of the control device for the bionic hand provided in the third embodiment of the present invention;

[0038] Figure 10This is a schematic diagram of a bionic hand module provided in an embodiment of the present invention.

[0039] 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

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Please refer to the following: Figure 1 and Figure 4 , Figure 1 This is a flowchart of a scene-selection-based bionic hand control method provided in an embodiment of the present invention. Figure 4This is a schematic diagram of a bionic hand provided in an embodiment of the present invention. A scene-selective bionic hand control method is applied to a bionic hand 1, which includes several fingers 21. The scene-selective bionic hand 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, through which the bionic hand 1 is fixed to the wearer's arm (residual limb). The cavity wall of the receiving cavity 30 is in contact with the wearer's arm muscles. Multiple electromyographic electrodes are disposed on the cavity wall of the receiving cavity 30 of the bionic hand 1. These electrodes are used to collect the action potentials generated by the muscles and form electromyographic signals on the surface of the residual limb.

[0045] The bionic hand 1 also includes a control device 10 for performing a scene-based bionic hand control method, the control device 10 being electrically connected to electromyographic electrodes. The 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 limitations are made here. It is understood that the aforementioned functions can be network elements within hardware devices, software functions running on dedicated hardware, a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0046] The scene-based bionic hand control method includes the following steps.

[0047] Step S102: Identify the scene mode corresponding to the received trigger information.

[0048] The control device 10 receives and identifies the 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. Each scene mode corresponds to a preset angle range of multiple fingers 21, and the preset angle range is used to limit the range of motion of the fingers 21 when they bend.

[0049] In this embodiment, the triggering information includes electromyographic data, motion data, and / or control commands corresponding to a specific action. The triggering information can be any one of electromyographic data, motion data, and control commands, or a combination of any two or more of these. The specific action can be a specific hand gesture, 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 a wrist rotation movement of the bionic hand 1. The wearer can generate electromyographic data as triggering information by performing specific hand gestures; the wearer can generate motion data as triggering information by performing specific hand gestures; and the wearer can also send control commands via an external device as triggering information.

[0050] Specifically, the control device 10 can receive electromyographic signals generated by electromyographic electrodes. When the wearer makes a specific hand gesture, the electromyographic electrodes collect the electromyographic signals into electromyographic data, which is then sent to the control device 10 as trigger information. The bionic hand 1 is also equipped with 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 into motion data, which is then sent to the control device 10 as trigger information. The control device 10 is also communicatively connected to external devices. When the wearer generates control commands through external devices, the external devices send the control commands as trigger information to the control device 10.

[0051] In some embodiments, identifying the scene mode corresponding to the received trigger information includes: when it is detected that the trigger information matches a specific action, obtaining the scene mode corresponding to the specific action.

[0052] In this embodiment, 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 based on the control command. That is, 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 bionic hand 1's daily routine actions to avoid the wearer accidentally triggering the specific scene mode during daily activities. Scene modes may include playing the piano, typing, writing, grasping, etc.

[0053] In this embodiment, the optimal flexion and extension angle range for each finger 21 when bending can be preset in different scenario modes, i.e., the preset angle range. In the same scenario mode, the preset angle ranges corresponding to different fingers 21 can be the same or different; in different scenario modes, the preset angle ranges corresponding to the same finger 21 can be the same or different. The preset angle range can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing electromyographic data and finger 21 bending data extracted during control training, etc., without limitation here. However, regardless of how the preset angle range is set, in one scenario mode, one finger 21 corresponds to only one preset angle range.

[0054] Step S104: In scene mode, control the finger corresponding to the received electromyographic signal to bend.

[0055] In this embodiment, after the bionic hand 1 enters the corresponding scene mode, the control device 10 can receive electromyographic signals generated by the electromyographic electrodes. The control device 10 then controls the finger 21 corresponding to the received electromyographic signal to bend within the current scene mode. It is understood that the control device 10 can detect which finger 21 corresponds to the received electromyographic signal and then control the detected finger 21 to bend. The bending angle of the finger 21 is within a corresponding preset angle range. The bending angle of the finger 21 can represent the angle formed between the distal phalanx (corresponding to the distal phalanx) and the palm plane when the finger 21 bends; the larger the bending angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the 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.

[0056] For example, if the current scene mode of the bionic hand 1 is typing, in the typing scene, the preset angle range of the index finger is 0-20°, the preset angle range of the middle finger is 5-15°, the preset angle range of the ring finger is 5-20°, and the preset angle range of the little finger is 0-10°. When an electromyographic signal of the index finger is received, the control device 10 controls the index finger of the bionic hand 1 to bend to the 0-20° range; when an electromyographic signal of the middle finger is received, the control device 10 controls the middle finger of the bionic hand 1 to bend to the 5-15° range; when an electromyographic signal of the ring finger is received, the control device 10 controls the ring finger of the bionic hand 1 to bend to the 5-20° range; and when an electromyographic signal of the little finger is received, the control device 10 controls the little finger of the bionic hand 1 to bend to the 0-10° range.

[0057] In some embodiments, when the scene mode is a typing scene, controlling the finger corresponding to the received electromyographic signal to bend in the scene mode includes: controlling one finger to bend sequentially according to the electromyographic signal.

[0058] In this embodiment, after the bionic hand 1 enters the typing scenario, the control device 10 can only control one finger 21 to bend at a time, and sequentially controls the corresponding finger to bend according to the electromyographic signals. It is understandable that for information input scenarios with high precision requirements, such as typing, only one finger 21 can type one character at each time point. Therefore, the control device 10 can only collect one type of electromyographic signal at a time, and cannot simultaneously collect multiple electromyographic signals to control multiple fingers 21.

[0059] For example, in a typing scenario, while the control device 10 is controlling the index finger to bend based on the index finger's electromyographic (EMG) signal, it will not control the other fingers to bend even if it receives EMG signals for bending the other fingers 21. Only when it no longer receives EMG signals for controlling the index finger to bend, and only receives a new EMG signal, will the control device 10 control the other fingers to bend based on the new EMG signal.

[0060] In some feasible embodiments, in certain scenario modes, such as playing the piano, the control device 10 can control multiple fingers 21 to bend simultaneously. That is, in different scenario modes, the control device 10 can control one finger 21 to bend at the same time, or the control device 10 can control multiple fingers 21 to bend at the same time.

[0061] In some embodiments, after controlling the finger corresponding to the received electromyographic signal to bend in a scene mode, the scene-selective bionic hand control method further includes: when the electromyographic signal corresponding to the bent finger disappears, controlling the bent finger to bend to the corresponding initial angle.

[0062] 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 to the initial angle corresponding to that finger 21. Each finger 21 corresponds to an initial angle, which is the bending angle of the finger 21 when no corresponding electromyographic signal is received. Specifically, in each scene mode, each finger 21 corresponds to an initial angle. In the same scene mode, the initial angles corresponding to different fingers 21 can be the same or different; in different scene modes, the initial angles corresponding to the same finger 21 can be the same or different. The initial angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing the corresponding electromyographic data and bending data extracted from multiple training sessions; this is not limited here.

[0063] In some embodiments, the bending speed of a bent finger to a corresponding initial angle is greater than the bending speed of the finger within a corresponding preset angle range.

[0064] In this embodiment, the speed at which the control device 10 controls the finger 21 to bend from the current angle to the initial angle is recorded as the first speed, and the speed at which the control device 10 controls the finger 21 to bend within a corresponding preset angle range 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 current bending angle to the initial angle is relatively fast, while the speed at which the finger 21 bends within the preset angle range is relatively slow. The combination of fast and slow movements of the finger 21 can effectively improve control efficiency.

[0065] For example, when the type of electromyographic signal detected is an index finger signal, the control device 10 controls the index finger to slowly bend within a preset angle range. If the index finger signal disappears, the control device 10 controls the index finger to quickly reach the initial angle from the current bending angle.

[0066] The technical solution of this embodiment identifies the corresponding scene mode based on the received trigger information. In the scene mode, the corresponding finger is controlled to bend to a corresponding preset angle range based on the received electromyographic signals. When the electromyographic signal corresponding to the finger disappears, the finger is controlled to bend back to the initial angle, ensuring that the finger only bends within the corresponding preset angle range. This enables more precise control of finger movement and effectively improves control efficiency.

[0067] Please refer to the following: Figure 2 This is the first sub-flowchart of the scene-selection-based bionic hand control method provided in this embodiment of the invention. Step S104 further includes the following steps.

[0068] Step S202: Control the corresponding finger to bend from the initial angle to the minimum angle within the preset angle range according to the electromyographic signal.

[0069] In this embodiment, the control device 10 receives electromyographic signals transmitted by electromyographic electrodes and controls the finger 21 corresponding to the electromyographic signal to bend from an initial angle to the minimum angle within a preset angle range based on the electromyographic signal. The preset angle range includes a minimum angle and a maximum angle. When an electromyographic signal is received, the control device 10 controls the corresponding finger to bend from the initial angle to the minimum angle based on the electromyographic signal. Then, the control device 10 can control the finger 21 to continue bending within the preset angle range based on the duration of the electromyographic signal until the bending angle of the finger 21 reaches the maximum angle.

[0070] In some embodiments, the speed at which a finger bends from an initial angle to the minimum angle within a preset angle range is greater than the speed at which the finger bends within the preset angle range.

[0071] In this embodiment, the speed at which the control device 10 controls the finger 21 to bend from an initial angle to the minimum angle within a preset angle range is recorded as the third speed, and the speed at which the control device 10 controls the finger 21 to bend within the preset angle range is recorded as the second speed. The third 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 minimum angle within the preset angle range is relatively fast, while the speed at which the finger 21 bends within the preset angle range is relatively slow. The combination of fast and slow movements of the finger 21 can effectively improve control efficiency.

[0072] 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 minimum angle of the corresponding preset angle range from the initial angle. After the index finger reaches the minimum 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.

[0073] Step S204: When the bending angle of the finger reaches the maximum angle within the preset angle range and the corresponding electromyographic signal is continuously received, the bending angle of the finger is controlled to be maintained at the maximum angle.

[0074] In this embodiment, while controlling the finger 21 to bend, the control device 10 detects the bending angle of the finger 21. When the bending angle of the finger 21 is detected to reach the maximum angle within a corresponding preset angle range, the control device 10 controls the bending angle of the finger 21 to be maintained at the corresponding maximum angle. The maximum angle is the most suitable movement angle for the finger in the current scene mode.

[0075] For example, if the current scene mode of the bionic hand 1 is typing, the preset angle range of the index finger in the typing scene is 5-20°. When an electromyographic signal of the index finger is received, the control device 10 controls the index finger of the bionic hand 1 to quickly bend to 5°. Then, if an electromyographic signal of the index finger is continuously received, the control device 10 continues to control the index finger to slowly bend to 20°. Then, if an electromyographic signal of the index finger is still received, the control device 10 controls the bending angle of the index finger to remain at 20°.

[0076] Understandably, in a typing scenario, when the control device 10 controls one finger 21 to bend, as long as it continuously receives electromyographic (EMG) signals from that finger 21, regardless of whether it receives EMG signals from other fingers 21, the control device 10 will only control that finger 21 to bend. When it no longer receives EMG signals from that finger 21, the control device 10 controls that finger 21 to bend back to its initial angle. After the control device 10 no longer receives EMG signals from that finger 21, if it receives other EMG signals, it will control the corresponding finger 21 to bend according to those EMG signals.

[0077] In this embodiment, when the finger bends to the maximum angle within a preset angle range, the finger is controlled to remain at the maximum bend angle. When the control device controls the finger to bend, it ensures that the finger reaches the most suitable angle of motion, that is, it stops bending to a larger angle after reaching the maximum angle. This can effectively avoid the situation where the finger is over-bent due to fluctuations in electromyographic signals or excessive duration.

[0078] Please refer to the following: Figure 3 This is the second sub-flowchart of the scene-selection-based bionic hand control method provided in this embodiment of the invention. Step S104 further includes the following steps.

[0079] Step S302: When a specific finger is detected in the scene mode, determine whether the received electromyographic signal corresponds to the specific finger.

[0080] In this embodiment, the control device 10 determines whether a specific finger is specified in the current scene mode. When a specific finger is detected in the scene mode, the control device 10 determines whether the received electromyographic signal corresponds to the specific finger. Here, the specific finger refers to a finger 21 that remains stationary in the corresponding scene mode. It is understood that in certain specific scene modes, some fingers 21 may not need to perform any movements; therefore, the fingers 21 that do not need to perform movements in the corresponding scene mode are designated as the corresponding specific fingers.

[0081] For example, in a piano playing scenario, it may be necessary to set certain fingers 21, such as keeping the thumb still, in which case the thumb is pre-set as a specific finger in this scenario mode.

[0082] When the received electromyographic signal corresponds to a specific finger, step S304 is executed; when the received electromyographic signal does not correspond to a specific finger, step S306 is executed.

[0083] Step S304: Keep a specific finger stationary.

[0084] When the received electromyographic signal corresponds to a specific finger, the control device 10 controls the specific finger to remain stationary. In this embodiment, to avoid the bionic hand 1 making incorrect movements due to the bending of a specific finger, the control device 10 will not control the specific finger to bend based on the electromyographic signal even if it receives the signal.

[0085] Step S306: Control the corresponding finger to bend according to the electromyographic signal.

[0086] When the received electromyographic signal does not correspond to a specific finger, the control device 10 controls the corresponding finger 21 to bend according to the electromyographic signal.

[0087] It is understandable that when the scene mode does not have a specific finger, it means that the control device 10 can control the corresponding finger 21 to bend according to the electromyographic signal it receives, regardless of what electromyographic signal it receives.

[0088] In this embodiment, if a specific finger is designated for a particular scene mode, the electromyographic (EMG) signal from that finger is ignored or blocked upon receipt. The corresponding finger is then controlled to bend based solely on other EMG signals, effectively preventing interference from that specific finger on the bionic hand's gestures. Filtering the received EMG signals according to the specific finger settings in a particular scene mode effectively improves control efficiency and prevents the bionic hand from making incorrect movements, thus avoiding disruption to normal operation.

[0089] Please refer to the following: Figure 5 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.

[0090] Those skilled in the art will understand that Figure 5 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.

[0091] like Figure 5 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.

[0092] exist Figure 5In 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 scene-selection-based bionic hand control method are implemented.

[0093] 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. When the computer-executable instructions are executed by a processor, the scene-selection-based bionic hand control method described in the foregoing embodiments is implemented.

[0094] Please refer to the following: Figure 6 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 an identification module 41 and a first control module 42.

[0095] The identification module 41 is used to identify the scene mode corresponding to the received trigger information.

[0096] The recognition module 41 receives and recognizes the trigger information to obtain the scene mode corresponding to the trigger information. The recognition module 41 can control the bionic hand 1 to enter the corresponding scene mode. Each scene mode corresponds to a preset angle range of multiple fingers 21, and the preset angle range is used to limit the range of motion of the fingers 21 when they bend.

[0097] In this embodiment, the triggering information includes electromyographic data, motion data, and / or control commands corresponding to a specific action. The triggering information can be any one of electromyographic data, motion data, and control commands, or a combination of any two or more of these. The specific action can be a specific hand gesture, 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 a wrist rotation movement of the bionic hand 1. The wearer can generate electromyographic data as triggering information by performing specific hand gestures; the wearer can generate motion data as triggering information by performing specific hand gestures; and the wearer can also send control commands via an external device as triggering information.

[0098] Specifically, the recognition module 41 can receive electromyographic signals generated by electromyographic electrodes. When the wearer makes a specific gesture, the electromyographic electrodes collect the electromyographic signals into electromyographic data, which is then sent to the recognition module 41 as trigger information. The bionic hand 1 is also equipped with an inertial measurement unit (IMU) that is communicatively connected to the recognition module 41. When the wearer makes a specific gesture, the inertial sensor collects the data into motion data, which is then sent to the recognition module 41 as trigger information. The recognition module 41 is also communicatively connected to external devices. When the wearer generates control commands through external devices, the external devices send the control commands as trigger information to the recognition module 41.

[0099] The first control module 42 is used to control the bending of the fingers corresponding to the received electromyographic signals in scene mode.

[0100] In this embodiment, after the bionic hand 1 enters the corresponding scene mode, the first control module 42 can receive electromyographic signals generated by the electromyographic electrodes. The first control module 42 controls the finger 21 corresponding to the received electromyographic signal to bend within the current scene mode. It can be understood that the first control module 42 can detect which finger 21 corresponds to the received electromyographic signal and then control the detected finger 21 to bend. The bending angle of the finger 21 is within a corresponding preset angle range. The bending angle of the finger 21 can represent the angle formed between the distal phalanx (corresponding to the distal phalanx) and the palm plane when the finger 21 bends; the larger the bending angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the 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.

[0101] Please refer to the following: Figure 7 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention. The first control module 42 includes a first sub-control module 421 and a second sub-control module 422.

[0102] The first sub-control module 421 is used to control the corresponding finger to bend from an initial angle to the minimum angle within a preset angle range based on electromyographic signals.

[0103] In this embodiment, the first sub-control module 421 receives electromyographic signals transmitted by the electromyographic electrodes and controls the finger 21 corresponding to the electromyographic signal to bend from an initial angle to the minimum angle within a preset angle range based on the electromyographic signal. The preset angle range includes a minimum angle and a maximum angle. When an electromyographic signal is received, the first sub-control module 421 controls the corresponding finger to bend from the initial angle to the minimum angle based on the electromyographic signal. Then, the first sub-control module 421 can control the finger 21 to continue bending within the preset angle range based on the duration of the electromyographic signal until the bending angle of the finger 21 reaches the maximum angle.

[0104] In some embodiments, the speed at which a finger bends from an initial angle to the minimum angle within a preset angle range is greater than the speed at which the finger bends within the preset angle range.

[0105] In this embodiment, the speed at which the first sub-control module 421 controls the finger 21 to bend from the initial angle to the minimum angle within the preset angle range is recorded as the third speed, and the speed at which the first control module 42 controls the finger 21 to bend within the preset angle range is recorded as the second speed. The third 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 minimum angle within the preset angle range is relatively fast, while the speed at which the finger 21 bends within the preset angle range is relatively slow. The combination of fast and slow movements of the finger 21 can effectively improve control efficiency.

[0106] The second sub-control module 422 is used to control the finger to maintain the bending angle at the maximum angle when the finger bending angle reaches the maximum angle within a preset angle range and when it continuously receives electromyographic signals corresponding to the finger.

[0107] In this embodiment, while controlling the finger 21 to bend, the second sub-control module 422 detects the bending angle of the finger 21. When the bending angle of the finger 21 is detected to reach the maximum angle within a corresponding preset angle range, the second sub-control module 422 controls the bending angle of the finger 21 to be maintained at the corresponding maximum angle. The maximum angle is the most suitable movement angle for the finger in the current scene mode.

[0108] Understandably, in a typing scenario, when the first control module 42 controls one finger 21 to bend, as long as it continuously receives electromyographic (EMG) signals from that finger 21, regardless of whether it receives EMG signals from other fingers 21, the first control module 42 will only control that finger 21 to bend. When it no longer receives EMG signals from that finger 21, the first control module 42 controls that finger 21 to bend back to its initial angle. After the first control module 42 no longer receives EMG signals from that finger 21, if it receives other EMG signals, it will control the corresponding finger 21 to bend according to those EMG signals.

[0109] Please refer to the following: Figure 8 This is a schematic diagram of the first control module provided in the first embodiment of the present invention. The first control module 42 includes a judgment module 423, a fourth sub-control module 425, and a fourth sub-control module 425.

[0110] The judgment module 423 is used to determine whether the received electromyographic signal corresponds to the specific finger when a specific finger is detected in the scene mode.

[0111] In this embodiment, the determination module 423 determines whether a specific finger is specified in the current scene mode. When a specific finger is detected in the scene mode, the determination module 423 determines whether the received electromyographic signal corresponds to the specific finger. Here, the specific finger refers to a finger 21 that remains stationary in the corresponding scene mode. It is understood that in certain specific scene modes, some fingers 21 may not need to perform any action; therefore, the fingers 21 that do not need to perform any action in the corresponding scene mode are designated as the corresponding specific fingers.

[0112] The fourth sub-control module 425 is used to control a specific finger to remain stationary.

[0113] When the received electromyographic signal corresponds to a specific finger, the fourth sub-control module 425 controls the specific finger to remain stationary. In this embodiment, to avoid the bionic hand 1 making incorrect movements due to bending of a specific finger, even if an electromyographic signal is received from a specific finger, the fourth sub-control module 425 will not control the specific finger to bend based on the electromyographic signal.

[0114] The fourth sub-control module 425 is used to control the corresponding finger to bend according to the electromyographic signal.

[0115] When the received electromyographic signal does not correspond to a specific finger, the fourth sub-control module 425 controls the corresponding finger 21 to bend according to the electromyographic signal.

[0116] Please refer to the following: Figure 9 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 second control module 43.

[0117] The second control module 43 is used to control the bent finger to bend to the corresponding initial angle when the electromyographic signal corresponding to the bent finger disappears.

[0118] In this embodiment, after the second control module 43 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 second control module 43 controls the bent finger 21 to bend to the initial angle corresponding to that finger 21. Each finger 21 corresponds to an initial angle, which is the bending angle of the finger 21 when no corresponding electromyographic signal is received. Specifically, in each scene mode, each finger 21 corresponds to an initial angle. In the same scene mode, the initial angles corresponding to different fingers 21 can be the same or different; in different scene modes, the initial angles corresponding to the same finger 21 can be the same or different. The initial angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing the corresponding electromyographic data and bending data extracted from multiple training sessions; this is not limited here.

[0119] Please refer to the following: Figure 10 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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 scene-selection-based bionic hand control method, wherein the bionic hand comprises a plurality of fingers, characterized in that, The scene-selection-based bionic hand control method includes: Identify the scene mode corresponding to the received trigger information, wherein the trigger information includes electromyographic data, motion data, and / or control commands corresponding to a specific action, and each scene mode corresponds to a preset angle range of multiple fingers; and In the scene mode, the finger corresponding to the received electromyographic signal is controlled to bend, and the bending angle of the finger is within a corresponding preset angle range. The step of controlling the finger corresponding to the received electromyographic signal to bend in the scene mode includes: Based on the electromyographic signals, the corresponding finger is controlled to bend from an initial angle to the minimum angle within the preset angle range; and When the bending angle of the finger reaches the maximum angle of the preset angle range and an electromyographic signal corresponding to the finger is continuously received, the bending angle of the finger is controlled to be maintained at the maximum angle.

2. The bionic hand control method based on scene selection according to claim 1, characterized in that, The speed at which the finger bends from the initial angle to the minimum angle within the preset angle range is greater than the speed at which the finger bends within the preset angle range.

3. The bionic hand control method based on scene selection according to claim 1, characterized in that, After controlling the finger corresponding to the received electromyographic signal to bend in the scene mode, the scene-selection-based bionic hand control method further includes: When the electromyographic signal corresponding to the bent finger disappears, the bent finger is controlled to bend to the corresponding initial angle.

4. The bionic hand control method based on scene selection according to claim 3, characterized in that, The bending speed of the bent finger to the corresponding initial angle is greater than the bending speed of the finger within the corresponding preset angle range.

5. The bionic hand control method based on scene selection according to claim 1, characterized in that, The step of controlling the finger corresponding to the received electromyographic signal to bend in the scene mode includes: When a specific finger is detected in the scene mode, it is determined whether the received electromyographic signal corresponds to the specific finger; When the received electromyographic signal corresponds to a specific finger, the specific finger is controlled to remain stationary; and When the received electromyographic signal does not correspond to the specific finger, the corresponding finger is controlled to bend according to the electromyographic signal.

6. 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 recognition module identifies the scene mode corresponding to 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 for multiple fingers. The first control module controls the fingers corresponding to the received electromyographic signals to bend in the scene mode, and the bending angle of the fingers is within a corresponding preset angle range. The first control module includes: The first sub-control module is used to control the corresponding finger to bend from an initial angle to the minimum angle within the preset angle range based on the electromyographic signals; and The second sub-control module is used to control the bending angle of the finger to be maintained at the maximum angle when the bending angle of the finger reaches the maximum angle of the preset angle range and when it continuously receives electromyographic signals corresponding to the finger.

7. The control device for the bionic hand according to claim 6, characterized in that, The control device for the bionic hand also includes: The second control module is used to control the bent finger to bend to the corresponding initial angle when the electromyographic signal corresponding to the bent finger disappears.

8. 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 6 to 7. 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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