Bionic hand and method, device for playing an auxiliary

Abstract

The application discloses a playing assisting method of a bionic hand. The bionic hand comprises a plurality of fingers. The playing assisting method of the bionic hand comprises the following steps: when the bionic hand is in a semi-automatic playing mode, controlling corresponding fingers to play according to a musical score and an electromyographic signal of a residual arm surface; and when it is detected that a sending frequency of the electromyographic signal does not match a preset playing speed of the musical score, adjusting a real-time bending speed of the fingers. The playing assisting method of the bionic hand can solve the problem that the user experience is poor when the bionic hand plays the piano. In addition, the application further discloses a playing assisting 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 playing assistance method and device. 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.

[0003] However, in certain specific application scenarios, such as playing the piano, the bionic hand cannot quickly respond to all the wearer's electromyographic signals to control all the fingers to move quickly. It can only respond to the electromyographic signals of a single finger in turn, simply controlling a single finger to press the piano key. This makes playing the piano very strenuous, with low accuracy and slow rhythm. As a result, it is difficult for the wearer to continue using the bionic hand for piano training, resulting in a poor user experience. Summary of the Invention

[0004] The main objective of this invention is to propose a bionic hand and its playing assistance method and device, aiming to solve the problem of poor user experience when playing the piano with a bionic hand.

[0005] To achieve the above objectives, this invention proposes a method for assisting in playing music using a bionic hand, wherein the bionic hand includes several fingers, and the method for assisting in playing music using the bionic hand includes:

[0006] When the bionic hand is in semi-automatic playing mode, it controls the corresponding fingers to play based on the sheet music and electromyographic signals on the surface of the residual arm; and

[0007] When the frequency of the electromyographic signal is detected to be mismatched with the preset playing speed of the musical score, the real-time bending speed of the finger is adjusted.

[0008] Preferably, before adjusting the real-time bending speed of the fingers, the bionic hand playing assistance method further includes:

[0009] The current playing speed is analyzed based on the transmission frequency of the electromyographic signals; and

[0010] Analyze the matching results between the current playing speed and the preset playing speed.

[0011] Preferably, adjusting the real-time bending speed of the finger includes:

[0012] When the matching result indicates that the current playing speed is faster than the preset playing speed, the real-time bending speed of the finger is increased; and

[0013] When the matching result indicates that the current playing speed is slower than the preset playing speed, the real-time bending speed of the finger is reduced.

[0014] Preferably, the step of controlling the corresponding fingers to play based on the musical score and the electromyographic signals on the surface of the residual arm includes:

[0015] Based on the musical score, corresponding preset playing information is obtained, including bending angle, bending speed, and bending force; and

[0016] The corresponding fingers are controlled to play according to the preset playing information based on the electromyographic signals.

[0017] Preferably, before controlling the corresponding fingers to play according to the musical score and the electromyographic signals on the surface of the residual arm, the playing assistance method of the bionic hand further includes:

[0018] In normal playing mode, the corresponding fingers are controlled to play according to the electromyographic signals;

[0019] The current playing speed is analyzed based on the transmission frequency of the electromyographic signals; and

[0020] The preset playing information of the score is updated according to the current playing speed.

[0021] Preferably, after controlling the corresponding fingers to play according to the electromyographic signals in normal playing mode, the playing assistance method of the bionic hand further includes:

[0022] When the bionic hand recognizes the musical score based on the notes played in the normal playing mode, it controls the bionic hand to enter the semi-automatic playing mode.

[0023] The present invention further proposes a playing aid device for a bionic hand, the bionic hand comprising a plurality of fingers, the playing aid device comprising:

[0024] The first control module is used to control the corresponding fingers to play music based on the sheet music and electromyographic signals on the surface of the residual arm when the bionic hand is in semi-automatic playing mode; and

[0025] An adjustment module is used to adjust the real-time bending speed of the fingers when it detects that the transmission frequency of the electromyographic signal does not match the preset playing speed of the musical score.

[0026] Preferably, the bionic hand playing aid further includes:

[0027] The first analysis module is used to analyze the current playing speed based on the transmission frequency of the electromyographic signals; and

[0028] The second analysis module is used to analyze the matching result between the current playing speed and the preset playing speed.

[0029] Preferably, the adjustment module includes:

[0030] An amplification module is used to increase the real-time bending speed of the fingers when the matching result indicates that the current playing speed is faster than the preset playing speed; and

[0031] The reduction module is used to reduce the real-time bending speed of the finger when the matching result indicates that the current playing speed is slower than the preset playing speed.

[0032] The present invention further proposes a bionic hand, which includes a bionic hand body and a playing aid 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 play.

[0033] The technical solution of this invention is as follows: During the semi-automatic playing mode of the bionic hand, the transmission frequency of electromyographic (EMG) signals, i.e., the transmission time interval, is continuously learned and analyzed to detect whether the transmission frequency of the EMG signals matches the preset playing speed of the musical score. The transmission frequency of the EMG signals reflects the wearer's emotional fluctuations during playing. When the transmission frequency of the EMG signals does not match the preset playing speed of the musical score, the real-time bending speed of the fingers is adjusted according to the transmission frequency of the EMG signals, i.e., the playing speed of the fingers is corrected in real time. This ensures that the real-time playing speed of the bionic hand matches the wearer's emotional fluctuations, thereby meeting the wearer's needs for rhythmic changes and emotional expression, effectively improving the user experience. Attached Figure Description

[0034] Figure 1 A flowchart of a bionic hand playing assistance method provided in an embodiment of the present invention;

[0035] Figure 2 A first sub-flowchart of the bionic hand playing assistance method provided in an embodiment of the present invention;

[0036] Figure 3 The second sub-flowchart of the bionic hand playing assistance method provided in an embodiment of the present invention;

[0037] Figure 4 The third sub-flowchart of the bionic hand playing assistance method provided in the embodiment of the present invention;

[0038] Figure 5 The fourth sub-flowchart of the bionic hand playing assistance method provided in the embodiment of the present invention;

[0039] Figure 6 A schematic diagram of a bionic hand provided in an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention;

[0041] Figure 8 A schematic diagram of the playing aid device for the bionic hand provided in the first embodiment of the present invention;

[0042] Figure 9 A schematic diagram of the playing aid device for the bionic hand provided in the second embodiment of the present invention;

[0043] Figure 10 for Figure 8 A schematic diagram of the first control module of the bionic hand playing aid device shown;

[0044] Figure 11 A schematic diagram of the module of the bionic hand playing aid device provided in the third embodiment of the present invention;

[0045] Figure 12 for Figure 8 A schematic diagram of the adjustment module of the bionic hand playing aid device shown;

[0046] Figure 13 This is a schematic diagram of a bionic hand module provided in an embodiment of the present invention.

[0047] 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

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] Please refer to the following: Figure 1 and Figure 6 , Figure 1 This is a flowchart of a bionic hand-based playing assistance method provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of a bionic hand provided in an embodiment of the present invention. The bionic hand playing assistance method is applied to a bionic hand 1, which includes a plurality of fingers 21. The bionic hand playing assistance method is used to control the fingers 21 of the bionic hand 1 to play musical instruments. The musical instruments include, but are not limited to, keyboard instruments such as pianos, electronic keyboards, and accordions.

[0053] 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 close contact with the wearer's arm muscles. The bionic hand 1 has multiple electromyographic electrodes (not shown) on the cavity wall of the receiving cavity 30. The electromyographic electrodes are used to collect the action potential generated by the muscles and form electromyographic signals on the surface of the residual limb.

[0054] The bionic hand 1 also includes a control device 10 for performing playing assistance 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, by multiple devices working together, or by 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 virtualized functions instantiated on a platform (e.g., a cloud platform).

[0055] The specific steps of the bionic hand playing assistance method include the following.

[0056] Step S102: When the bionic hand is in semi-automatic playing mode, the corresponding fingers are controlled to play according to the musical score and the electromyographic signals on the surface of the residual arm.

[0057] In this embodiment, when the bionic hand 1 is in semi-automatic playing mode, the control device 10 controls the corresponding fingers 21 to play according to the sheet music and the electromyographic signals on the surface of the residual arm. Specifically, when the bionic hand 1 is in semi-automatic playing mode, during the process of the wearer controlling the bionic hand 1 to play an instrument, the wearer generates a motor intention through the brain, which excites the peripheral nervous system, thereby controlling the contraction of the forearm muscle group. The electromyographic electrodes on the surface of the residual limb receive stimulation and generate corresponding electromyographic signals; the control device 10 receives the electromyographic signals sent by the electromyographic electrodes and controls the fingers 21 to play in conjunction with the sheet music. After the bionic hand 1 enters semi-automatic playing mode, the control device 10 can control the fingers 21 to play in conjunction with the preset playing speed of the sheet music and the electromyographic signals. Among them, the control device 10 can control the bending speed of the fingers 21 according to the preset playing speed.

[0058] The specific process of controlling the corresponding fingers to play music based on the sheet music and electromyographic signals on the surface of the residual arm will be described in detail below.

[0059] Step S104: When it is detected that the transmission frequency of the electromyographic signal does not match the preset playing speed of the musical score, the real-time bending speed of the fingers is adjusted.

[0060] In this embodiment, during the semi-automatic playing mode, the control device 10 detects the frequency of the received electromyographic signals in real time and determines whether the transmission frequency of the electromyographic signals matches the preset playing speed of the sheet music. When it is detected that the transmission frequency of the electromyographic signals does not match the preset playing speed of the sheet music, the control device 10 adjusts the real-time bending speed of the finger 21 according to the transmission frequency of the electromyographic signals.

[0061] The specific process of adjusting the real-time bending speed of the fingers will be described in detail below.

[0062] In this embodiment, during the semi-automatic playing mode of the bionic hand, the transmission frequency (i.e., the transmission time interval) of electromyographic (EMG) signals is continuously studied and analyzed to detect whether the transmission frequency matches the preset playing speed of the musical score. The transmission frequency of the EMG signals reflects the wearer's emotional fluctuations during playing. When the transmission frequency of the EMG signals does not match the preset playing speed, the real-time bending speed of the fingers is adjusted according to the transmission frequency, i.e., the playing speed of the fingers is corrected in real time. This ensures that the real-time playing speed of the bionic hand matches the wearer's emotional fluctuations, thereby meeting the wearer's needs for rhythmic changes and emotional expression, effectively improving the user experience.

[0063] Please refer to the following: Figure 2 This is the first sub-flowchart of the bionic hand playing assistance method provided in the embodiment of the present invention. Before executing step S102, the bionic hand playing assistance method further includes the following steps.

[0064] Step S202: In normal playing mode, control the corresponding fingers to play according to electromyographic signals.

[0065] In this embodiment, when the bionic hand 1 is in normal playing mode, during the process of the wearer controlling the bionic hand 1 to play a musical instrument, the wearer generates a motor intention through the brain, which excites the peripheral nervous system and thus controls the contraction of the forearm muscle group. The electromyographic electrodes on the surface of the residual limb receive stimulation and generate corresponding electromyographic signals; the control device 10 receives the electromyographic signals sent by the electromyographic electrodes, controls the corresponding finger 21 of the bionic hand 1 to bend, and controls the bending angle of the finger 21 according to the duration of the electromyographic signal, so that the finger 21 presses the piano key to play the musical instrument. Here, 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 other parts of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 is bent, which is not limited here.

[0066] In normal playing mode, the control device 10 can only control the finger 21 to play based on the electromyographic signal and the duration corresponding to the electromyographic signal. It should be noted that when the wearer first puts on the bionic hand 1 and starts playing, the bionic hand 1 is in normal playing mode.

[0067] Step S204: Analyze the current playing speed based on the transmission frequency of the electromyographic signal.

[0068] In this embodiment, the control device 10 detects the transmission frequency of the electromyographic signal and analyzes the wearer's current playing speed based on the transmission frequency of the electromyographic signal. The transmission frequency of the electromyographic signal is the frequency at which the electromyographic electrodes transmit the signal to the control device 10; the current playing speed is the playing speed at which the wearer wants to control the fingers 21 of the bionic hand 1 to play a musical piece.

[0069] Step S206: Update the preset playing information of the score according to the current playing speed.

[0070] In this embodiment, the control device 10 updates the preset playing information of the sheet music based on the analyzed current playing speed. The control device 10 pre-stores preset playing information corresponding to the sheet music, with one preset playing information for each sheet music. The preset playing information may include bending angle, bending speed, and bending force, etc. It can be understood that the pre-stored preset playing information corresponding to the sheet music is the standard playing information of the sheet music. That is to say, in the semi-automatic playing mode, the control device 10 can control the finger 21 to play the corresponding sheet music according to the pre-stored preset playing information. The preset playing information of the sheet music is updated according to the current playing speed. The updated preset playing information is playing information with the wearer's personal playing emotion. In the subsequent semi-automatic playing mode, the control device 10 can control the finger 21 to play the sheet music that matches the wearer's personal emotional color according to the updated preset playing information.

[0071] For example, after analyzing the transmission frequency of electromyographic signals in normal playing mode, the corresponding current playing speed is relatively fast. The control device 10 updates the preset playing information stored in the score according to the relatively fast current playing speed, such as appropriately increasing the bending speed, so that in the subsequent semi-automatic playing mode, the control device 10 can play relatively fast music according to the electromyographic signals and the updated preset playing information.

[0072] In some embodiments, after controlling the corresponding fingers to play according to electromyographic signals in normal playing mode, the playing assistance method of the bionic hand further includes: when the sheet music is recognized based on the notes played by the bionic hand in normal playing mode, controlling the bionic hand to enter semi-automatic playing mode.

[0073] In this embodiment, the control device 10 is equipped with a sound recognition system for detecting the notes played by the bionic hand 1 in normal playing mode. During playing, the control device 10 performs sound recognition detection on the played notes and matches them with scores in a preset music score library to obtain a score that matches the played notes. That is, the control device 10 identifies the score that the wearer is currently playing based on the played notes. After identifying the score based on the played notes, the control device 10 controls the bionic hand 1 to enter a semi-automatic playing mode.

[0074] For example, when the wearer controls the bionic hand 1 to play music in normal playing mode, the control device 10 controls the fingers 21 to play the notes 123455543 according to the received electromyographic signals and the corresponding duration. During the playing process, the control device 10 detects the played notes. When the fingers 21 play the second 3, the control device 10 recognizes that the music being played by the wearer is "The Doll and the Bear Dancing," and then the control device 10 controls the bionic hand 1 to enter semi-automatic playing mode.

[0075] In this embodiment, the bionic hand 1 is pre-set with multiple playing modes, including a normal playing mode and a semi-automatic playing mode. The control device 10 switches between playing modes based on the detected notes. In the normal playing mode, the control device 10 controls the finger 21 to play based on the electromyographic signals and their duration. In the semi-automatic playing mode, the control device 10 no longer needs to detect the duration of the electromyographic signals; it only needs to control the finger 21 to play based on the electromyographic signals and the corresponding preset playing information. The conditions for the bionic hand to switch to the semi-automatic playing mode in the normal playing mode can be set according to the actual playing situation or the wearer's personal preference, and are not limited here.

[0076] In some embodiments, after controlling the bionic hand to enter a semi-automatic playing mode, the bionic hand's playing assistance method further includes: sending a prompt message.

[0077] In this embodiment, the control device 10 can send a prompt message to remind the wearer that the playing mode of the bionic hand 1 has switched from the normal playing mode to the semi-automatic playing mode. The prompt message may include, but is not limited to, voice, light, vibration, etc.

[0078] In this embodiment, when the bionic hand is in normal playing mode, it controls the fingers to play solely based on electromyographic (EMG) signals. The current playing speed is analyzed based on the frequency of EMG signal transmission in normal playing mode, indicating the speed at which the wearer wants to control the fingers. The preset bending speed of the fingers, i.e., the preset playing information of the sheet music, is then updated based on this current playing speed. When the bionic hand enters semi-automatic playing mode, it controls the fingers to play based on the updated preset playing information and EMG signals. This results in a playing speed that better matches the wearer's personal style and emotional expression, rather than mechanically playing standard sheet music.

[0079] Furthermore, after recognizing the sheet music being played by the bionic hand based on the notes played in normal playing mode, the bionic hand is controlled to enter a semi-automatic playing mode. In this mode, the fingers are controlled to play based on the recognized sheet music and electromyographic signals. Controlling the bionic hand into semi-automatic playing mode after recognizing the sheet music improves the response speed when playing instruments, allowing for the production of rhythms that match the sheet music, while also reducing the wearer's control burden and enhancing their experience.

[0080] Please refer to the following: Figure 3 This is the second sub-flowchart of the bionic hand playing assistance method provided in the embodiment of the present invention. Step S102 specifically includes the following steps.

[0081] Step S302: Obtain the corresponding preset playing information based on the musical score.

[0082] In this embodiment, the control device 10 can obtain corresponding preset playing information based on the identified musical score. The control device 10 pre-stores preset playing information corresponding to each musical score, with one preset playing information per score. The preset playing information may include bending angle, bending speed, and bending force, etc. It is understood that if the preset playing information of the musical score has not been updated, the control device 10 obtains the pre-stored preset playing information; if the preset playing information of the musical score has been updated, the control device 10 obtains the updated preset playing information.

[0083] Step S304: Control the corresponding fingers to play according to the preset playing information based on the electromyographic signals.

[0084] In this embodiment, the control device 10 controls the corresponding finger 21 to bend according to the received electromyographic signals, and at the same time, the control device 10 controls the finger 21 to press the piano keys according to the corresponding preset playing information. It should be noted that each note in the musical score can correspond to a bending angle, a bending speed, and a bending force. The control device 10 controls the finger 21 to move according to the bending angle, bending speed, and bending force corresponding to the note, based on the received electromyographic signals and in combination with the playing order of the musical score, thereby playing music that matches the volume of the note, the rhythm of the music in the score, or the emotional expression of the wearer.

[0085] Understandably, in semi-automatic playing mode, as long as the control device 10 receives an electromyographic signal, it can control the corresponding finger 21 to bend according to the corresponding bending angle, bending speed, and bending force, thereby playing the corresponding musical score. After receiving the electromyographic signal, the control device 10 does not need to detect the duration of the electromyographic signal; it can directly control the corresponding finger 21 based on the electromyographic signal.

[0086] In this embodiment, after the bionic hand enters the semi-automatic playing mode, it obtains the corresponding preset playing information based on the identified musical score. Based on the received electromyographic signals, it controls the corresponding fingers to play the notes corresponding to the musical score according to the preset playing information. It is no longer necessary to detect the duration of the electromyographic signals, which makes it easier for the wearer to control the bionic hand to play musical instruments, and can also effectively improve the accuracy of playing, greatly improving the user experience.

[0087] Please refer to the following: Figure 4 This is the third sub-flowchart of the bionic hand playing assistance method provided in this embodiment of the invention. Before executing step S104, the bionic hand playing assistance method further includes the following steps.

[0088] Step S402: Analyze the current playing speed based on the transmission frequency of the electromyographic signal.

[0089] In this embodiment, the control device 10 detects the transmission frequency of the electromyographic signal and analyzes the wearer's current playing speed based on the transmission frequency of the electromyographic signal. The transmission frequency of the electromyographic signal is the frequency at which the electromyographic electrodes transmit the signal to the control device 10; the current playing speed is the playing speed at which the wearer wants to control the fingers 21 of the bionic hand 1 to play a musical piece.

[0090] Step S404: Analyze the matching result between the current playing speed and the preset playing speed.

[0091] In this embodiment, the control device 10 analyzes and compares the current playing speed with the preset playing speed to obtain a matching result. Specifically, the matching result includes the current playing speed being faster than the preset playing speed, the current playing speed being equal to the preset playing speed, and the current playing speed being slower than the preset playing speed. The preset playing speed of the sheet music is the playing speed when performing according to the preset playing information of the sheet music.

[0092] In this embodiment, based on the transmission frequency of electromyographic signals, i.e., the time interval between signal transmissions, the desired playing speed (current playing speed) that the wearer wants to control the fingers to play can be analyzed. By analyzing the relationship between the current playing speed and the preset playing speed of the sheet music, a matching result between the current and preset playing speeds can be obtained. This allows for flexible adjustment of the real-time bending speed of the fingers based on the matching result, making the playing more in line with the wearer's emotional expression.

[0093] Please refer to the following: Figure 5 This is the fourth sub-flowchart of the bionic hand playing assistance method provided in the embodiment of the present invention. Step S104 specifically includes the following steps.

[0094] Step S502: When the matching result is that the current playing speed is faster than the preset playing speed, increase the real-time bending speed of the fingers.

[0095] When the matching result is that the current playing speed is faster than the preset playing speed, it means that the wearer wants to control the bionic hand 1 to play the music score faster, so the control device 10 increases the real-time bending speed of the finger 21.

[0096] Step S504: When the matching result is that the current playing speed is slower than the preset playing speed, reduce the real-time bending speed of the fingers.

[0097] When the matching result is that the current playing speed is slower than the preset playing speed, it means that the wearer wants to control the bionic hand 1 to play the music score at a slower speed. In this case, the control device 10 reduces the real-time bending speed of the finger 21.

[0098] In this embodiment, if the current playing speed is fast, the real-time bending speed of the fingers is increased; if the current playing speed is slow, the real-time bending speed of the fingers is decreased. Adjusting the real-time bending speed of the fingers according to the frequency of electromyographic signal transmission controls the playing rhythm, making the playing more closely match the rhythm changes the wearer wants to express, thereby improving the user experience.

[0099] Please refer to the following: Figure 7 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.

[0100] Those skilled in the art will understand that Figure 7 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.

[0101] like Figure 7 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.

[0102] exist Figure 7 In 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 playing assistance method are implemented.

[0103] 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 bionic hand playing assistance method described in the foregoing embodiments is implemented.

[0104] Please refer to the following: Figure 8 This is a schematic diagram of the playing aid device of the bionic hand provided in the first embodiment of the present invention. The playing aid device 40 of the bionic hand includes a first control module 41 and an adjustment module 42.

[0105] The first control module 41 is used to control the corresponding fingers to play music based on the sheet music and electromyographic signals on the surface of the residual arm when the bionic hand is in semi-automatic playing mode.

[0106] In this embodiment, when the bionic hand 1 is in semi-automatic playing mode, the first control module 41 controls the corresponding fingers 21 to play according to the sheet music and the electromyographic signals on the surface of the residual arm. Specifically, when the bionic hand 1 is in semi-automatic playing mode, during the process of the wearer controlling the bionic hand 1 to play an instrument, the wearer generates a motor intention through the brain, which excites the peripheral nervous system, thereby controlling the contraction of the forearm muscle group. The electromyographic electrodes on the surface of the residual limb receive stimulation and generate corresponding electromyographic signals; the first control module 41 receives the electromyographic signals sent by the electromyographic electrodes and controls the fingers 21 to play in combination with the sheet music. After the bionic hand 1 enters the semi-automatic playing mode, the first control module 41 can control the fingers 21 to play in combination with the preset playing speed of the sheet music and the electromyographic signals. Among them, the first control module 41 can control the bending speed of the fingers 21 according to the preset playing speed.

[0107] The adjustment module 42 is used to adjust the real-time bending speed of the fingers when it detects that the transmission frequency of the electromyographic signal does not match the preset playing speed of the musical score.

[0108] In this embodiment, during the semi-automatic playing mode, the adjustment module 42 detects the frequency of the received electromyographic signals in real time and determines whether the transmission frequency of the electromyographic signals matches the preset playing speed of the sheet music. When it is detected that the transmission frequency of the electromyographic signals does not match the preset playing speed of the sheet music, the adjustment module 42 adjusts the real-time bending speed of the finger 21 according to the transmission frequency of the electromyographic signals.

[0109] Please refer to the following: Figure 9 This is a schematic diagram of the playing aid device for the bionic hand provided in the second embodiment of the present invention. The playing aid device 40 for the bionic hand also includes a second control module 45, a third analysis module 46, and an update module 47.

[0110] The second control module 45 is used to control the corresponding fingers to play according to electromyographic signals in normal playing mode.

[0111] In this embodiment, when the bionic hand 1 is in normal playing mode, during the process of the wearer controlling the bionic hand 1 to play a musical instrument, the wearer generates a motor intention through the brain, which excites the peripheral nervous system and thus controls the contraction of the forearm muscle group. The electromyographic electrodes on the surface of the residual limb receive stimulation and generate corresponding electromyographic signals; the second control module 45 receives the electromyographic signals sent by the electromyographic electrodes, controls the corresponding finger 21 of the bionic hand 1 to bend, and controls the bending angle of the finger 21 according to the duration of the electromyographic signal, so that the finger 21 presses the piano key to play the musical instrument. Here, 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 other parts of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 is bent, which is not limited here.

[0112] In normal playing mode, the second control module 45 can only control the finger 21 to play based on the electromyographic signal and the duration corresponding to the electromyographic signal. It should be noted that when the wearer first puts on the bionic hand 1 and starts playing, the bionic hand 1 is in normal playing mode.

[0113] The third analysis module 46 is used to analyze the current playing speed based on the transmission frequency of electromyographic signals.

[0114] In this embodiment, the third analysis module 46 detects the transmission frequency of the electromyographic signal and analyzes the wearer's current playing speed based on the transmission frequency of the electromyographic signal. The transmission frequency of the electromyographic signal is the frequency at which the electromyographic electrodes transmit the electromyographic signal to the third analysis module 46; the current playing speed is the playing speed at which the wearer wants to control the fingers 21 of the bionic hand 1 to play music.

[0115] Update module 47 is used to update the preset playing information of the score according to the current playing speed.

[0116] In this embodiment, the update module 47 updates the preset playing information of the sheet music based on the analyzed current playing speed. The update module 47 pre-stores preset playing information corresponding to the sheet music, with one preset playing information for each sheet music. The preset playing information may include bending angle, bending speed, and bending force, etc. It can be understood that the pre-stored preset playing information corresponding to the sheet music is the standard playing information of the sheet music. That is to say, in the semi-automatic playing mode, the update module 47 can control the finger 21 to play the corresponding sheet music according to the pre-stored preset playing information. The preset playing information of the sheet music is updated according to the current playing speed. The updated preset playing information is playing information with the wearer's personal playing emotion. In the subsequent semi-automatic playing mode, the first control module 41 can control the finger 21 to play the sheet music that matches the wearer's personal emotional color according to the updated preset playing information.

[0117] Please refer to the following: Figure 10 This is a schematic diagram of the first control module of the bionic hand playing aid device provided in an embodiment of the present invention. The first control module 41 includes an acquisition module 411 and a sub-control module 412.

[0118] The acquisition module 411 is used to acquire the corresponding preset playing information based on the musical score.

[0119] In this embodiment, the acquisition module 411 can obtain corresponding preset playing information based on the identified musical score. The acquisition module 411 pre-stores preset playing information corresponding to each musical score, with one preset playing information per score. The preset playing information may include bending angle, bending speed, and bending force, etc. It is understood that if the preset playing information of the musical score has not been updated, the acquisition module 411 acquires the pre-stored preset playing information; if the preset playing information of the musical score has been updated, the acquisition module 411 acquires the updated preset playing information.

[0120] The sub-control module 412 is used to control the corresponding fingers to play according to preset playing information based on electromyographic signals.

[0121] In this embodiment, the sub-control module 412 controls the corresponding finger 21 to bend according to the received electromyographic signals. Simultaneously, the sub-control module 412 controls the finger 21 to press the piano keys according to the corresponding preset playing information. It should be noted that each note in the musical score can correspond to a bending angle, a bending speed, and a bending force. Based on the received electromyographic signals and the playing order of the musical score, the sub-control module 412 controls the finger 21 to move according to the bending angle, bending speed, and bending force corresponding to the note, thereby playing music that matches the volume of the note, the rhythm of the musical score, or the emotional expression of the wearer.

[0122] Understandably, in semi-automatic playing mode, as long as the sub-control module 412 receives an electromyographic signal, it can control the corresponding finger 21 to bend according to the corresponding bending angle, bending speed, and bending force, thereby playing the corresponding musical score. After receiving the electromyographic signal, the sub-control module 412 does not need to detect the duration of the electromyographic signal; it can directly control the corresponding finger 21 based on the electromyographic signal.

[0123] Please refer to the following: Figure 11 This is a schematic diagram of the playing aid device for the bionic hand provided in the third embodiment of the present invention. The playing aid device 40 for the bionic hand includes a first analysis module 43 and a second analysis module 44.

[0124] The first analysis module 43 is used to analyze the current playing speed based on the transmission frequency of electromyographic signals.

[0125] In this embodiment, the first analysis module 43 detects the transmission frequency of the electromyographic signal and analyzes the wearer's current playing speed based on the transmission frequency of the electromyographic signal. The transmission frequency of the electromyographic signal is the frequency at which the electromyographic electrodes transmit the electromyographic signal to the first analysis module 43; the current playing speed is the playing speed at which the wearer wants to control the fingers 21 of the bionic hand 1 to play a musical instrument.

[0126] The second analysis module 44 is used to analyze the matching result between the current playing speed and the preset playing speed.

[0127] In this embodiment, the second analysis module 44 analyzes and compares the current playing speed with the preset playing speed to obtain a matching result. Specifically, the matching result includes the current playing speed being faster than the preset playing speed, the current playing speed being equal to the preset playing speed, and the current playing speed being slower than the preset playing speed. The preset playing speed of the score is the playing speed when performing according to the preset playing information in the score.

[0128] Please refer to the following: Figure 12 This is a schematic diagram of the adjustment module of the bionic hand playing aid device provided in an embodiment of the present invention. The adjustment module 42 includes an enlarging module 421 and a decrementing module 422.

[0129] The amplification module 421 is used to increase the real-time bending speed of the fingers when the matching result is that the current playing speed is faster than the preset playing speed.

[0130] When the matching result is that the current playing speed is faster than the preset playing speed, it means that the wearer wants to control the bionic hand 1 to play the music score faster, so the amplification module 421 increases the real-time bending speed of the finger 21.

[0131] The reduction module 422 is used to reduce the real-time bending speed of the fingers when the matching result is that the current playing speed is slower than the preset playing speed.

[0132] When the matching result is that the current playing speed is slower than the preset playing speed, it means that the wearer wants to control the bionic hand 1 to play the music score at a slower speed. In this case, the reduction module 422 reduces the real-time bending speed of the finger 21.

[0133] 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 playing aid 40. The bionic hand body 20 includes a plurality of fingers 21. The playing aid 40 is disposed on the bionic hand body 20 and is used to drive the fingers 21 to play.

[0134] In this embodiment, the playing aid 40 can drive the fingers 21 to play musical instruments. These instruments include, but are not limited to, keyboard instruments such as pianos, electronic keyboards, and accordions. The bionic hand body 20 has a receiving cavity, and multiple electromyographic electrodes are disposed on the cavity wall. The playing aid 40 is electrically connected to these 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 potentials generated by the muscles, forming electromyographic signals on the surface of the residual limb, and sending these signals to the playing aid 40.

[0135] The specific structure of the playing aid 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.

[0136] 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 assisting in playing music using a bionic hand, the bionic hand comprising a plurality of fingers, characterized in that, The bionic hand's playing assistance method includes: When the bionic hand is in semi-automatic playing mode, it controls the corresponding fingers to play based on the sheet music and electromyographic signals on the surface of the residual arm; and When the frequency of the electromyographic signal is detected to be mismatched with the preset playing speed of the musical score, the real-time bending speed of the finger is adjusted. Before adjusting the real-time bending speed of the fingers, the bionic hand's playing assistance method further includes: The current playing speed is analyzed based on the transmission frequency of the electromyographic signals; and Analyze the matching results between the current playing speed and the preset playing speed.

2. The bionic hand playing assistance method according to claim 1, characterized in that, The adjustment of the real-time bending speed of the finger includes: When the matching result indicates that the current playing speed is faster than the preset playing speed, the real-time bending speed of the finger is increased; and When the matching result indicates that the current playing speed is slower than the preset playing speed, the real-time bending speed of the finger is reduced.

3. The bionic hand playing assistance method according to claim 1, characterized in that, The method of controlling the corresponding fingers to play based on the musical score and electromyographic signals on the surface of the residual arm includes: Based on the musical score, corresponding preset playing information is obtained, including bending angle, bending speed, and bending force; and The corresponding fingers are controlled to play according to the preset playing information based on the electromyographic signals.

4. The bionic hand playing assistance method according to claim 3, characterized in that, Before controlling the corresponding fingers to play based on the musical score and electromyographic signals on the surface of the residual arm, the bionic hand playing assistance method further includes: In normal playing mode, the corresponding fingers are controlled to play according to the electromyographic signals; The current playing speed is analyzed based on the transmission frequency of the electromyographic signals; and The preset playing information of the score is updated according to the current playing speed.

5. The bionic hand playing assistance method according to claim 4, characterized in that, After controlling the corresponding fingers to play according to the electromyographic signals in normal playing mode, the playing assistance method of the bionic hand further includes: When the bionic hand recognizes the musical score based on the notes played in the normal playing mode, it controls the bionic hand to enter the semi-automatic playing mode.

6. A bionic hand playing aid device, the bionic hand comprising a plurality of fingers, characterized in that, The bionic hand's playing aid device includes: The first control module is used to control the corresponding fingers to play music based on the sheet music and electromyographic signals on the surface of the residual arm when the bionic hand is in semi-automatic playing mode. An adjustment module is used to adjust the real-time bending speed of the fingers when the transmission frequency of the electromyographic signal does not match the preset playing speed of the musical score. The first analysis module is used to analyze the current playing speed based on the transmission frequency of the electromyographic signals; and The second analysis module is used to analyze the matching result between the current playing speed and the preset playing speed.

7. The bionic hand playing aid device according to claim 6, characterized in that, The adjustment module includes: An amplification module is used to increase the real-time bending speed of the fingers when the matching result indicates that the current playing speed is faster than the preset playing speed; and The reduction module is used to reduce the real-time bending speed of the finger when the matching result indicates that the current playing speed is slower than the preset playing speed.

8. A bionic hand, characterized in that, The bionic hand includes a bionic hand body and a playing aid device for the bionic hand as described in claim 6 or 7. The bionic hand body includes a plurality of fingers, and the playing aid device is disposed on the bionic hand body for driving the fingers to play.

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