Bionic hand control method and device based on pressure sensing, and bionic hand

Abstract

The application discloses a bionic hand control method based on pressure sensing. The bionic hand comprises a plurality of fingers. The bionic hand control method based on pressure sensing comprises the following steps: detecting contact pressure between the fingers and a contact object; and when it is detected that the contact pressure is within a preset pressure range, controlling the fingers to bend to an initial angle, wherein each finger corresponds to an initial angle. The bionic hand control method based on pressure sensing can solve the problem that the fingers of the bionic hand are difficult to control accurately. In addition, the application further discloses a bionic hand control device 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 pressure sensing, and a bionic hand. Background Technology

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

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

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

[0005] To achieve the above objectives, this invention proposes a pressure-sensing-based bionic hand control method, applied to a bionic hand comprising several fingers. The pressure-sensing-based bionic hand control method includes:

[0006] Detecting the contact pressure between the finger and the object being touched; and

[0007] When the contact pressure is detected to be within a preset pressure range, the finger is controlled to bend to an initial angle, with each finger corresponding to an initial angle.

[0008] Preferably, after detecting the contact pressure between the finger and the contacting object, the pressure-sensing-based bionic hand control method further includes:

[0009] When the contact pressure is detected to be zero, a first notification message is sent; and

[0010] Control the finger to bend to the initial angle.

[0011] Preferably, after detecting the contact pressure between the finger and the contacting object, the pressure-sensing-based bionic hand control method further includes:

[0012] When the contact pressure is detected to be less than the minimum value of the preset pressure range, a second prompt message is sent;

[0013] Upon receiving the next electromyographic signal, determine whether the next electromyographic signal matches the currently bent finger;

[0014] When the next electromyographic signal matches the currently bent finger, the currently bent finger is controlled to continue bending;

[0015] When the next electromyographic signal does not match the currently bent finger, the currently bent finger is controlled to bend back to the initial angle; and

[0016] The corresponding finger is controlled to bend according to the next electromyographic signal.

[0017] Preferably, the finger is equipped with a drive motor, and the detection of the contact pressure between the finger and the contacting object includes:

[0018] Detect the load current of the drive motor of the finger; and

[0019] The contact pressure is calculated based on the load current.

[0020] Preferably, the finger is equipped with a pressure sensor, and the detection of the contact pressure between the finger and the contacting object includes:

[0021] The pressure value of the pressure sensor on the finger is detected; and

[0022] The pressure value is used as the contact pressure.

[0023] Preferably, before detecting the contact pressure between the finger and the contacting object, the pressure-sensing-based bionic hand control method further includes:

[0024] 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

[0025] 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.

[0026] 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:

[0027] The detection module is used to detect the contact pressure between the finger and the object being contacted; and

[0028] The first control module is used to control the fingers to bend to an initial angle when the contact pressure is detected to be within a preset pressure range, with each finger corresponding to an initial angle.

[0029] Preferably, the control device for the bionic hand further includes:

[0030] The sending module is configured to send a first prompt message when it detects that the contact pressure is zero; and

[0031] The second control module is used to control the finger to bend to the initial angle.

[0032] 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.

[0033] Preferably, each of the fingers is provided with a drive motor, or each of the fingers is provided with a drive motor and a pressure sensor.

[0034] The technical solution of this invention is as follows: During the bending process of the finger, the contact pressure between the finger and the object is detected in real time, and the finger movement is further controlled according to the magnitude of the contact pressure. This allows for more precise control of the finger movement based on the force with which the finger presses against the object. When the detected contact pressure is within a preset pressure range, it indicates that the force with which the finger presses against the object is appropriate, and the finger has completed the pressing action correctly. The finger is then controlled to return to its initial angle, achieving precise control of the finger. Attached Figure Description

[0035] Figure 1 A flowchart illustrating a pressure-sensing-based bionic hand control method provided in an embodiment of the present invention;

[0036] Figure 2 The first sub-flowchart of the bionic hand control method based on pressure sensing provided in the embodiments of the present invention;

[0037] Figure 3 The second sub-flowchart of the bionic hand control method based on pressure sensing provided in the embodiments of the present invention;

[0038] Figure 4 The third sub-flowchart of the bionic hand control method based on pressure sensing provided in the embodiments of the present invention;

[0039] Figure 5 The fourth sub-flowchart of the bionic hand control method based on pressure sensing provided in the embodiments of the present invention;

[0040] Figure 6 The fifth sub-flowchart of the bionic hand control method based on pressure sensing provided in the embodiments of the present invention;

[0041] Figure 7 This is a first schematic diagram of a bionic hand provided in an embodiment of the present invention;

[0042] Figure 8This is a second schematic diagram of a bionic hand provided in an embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of the control device for the bionic hand provided in the first embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of the first module of the bionic hand provided in an embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of the second module of the bionic hand provided in an embodiment of the present invention;

[0048] Figure 14 This is a schematic diagram of the third module of the bionic hand provided in an embodiment of the present invention.

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

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

[0051] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

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

[0053] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0054] Please refer to the following: Figure 1 and Figure 7 , Figure 1 This is a flowchart of a pressure-sensing-based bionic hand control method provided in an embodiment of the present invention. Figure 7 This is a first schematic diagram of a bionic hand provided in an embodiment of the present invention. A pressure-sensing-based bionic hand control method is applied to a bionic hand 1, which includes several fingers 21. The pressure-sensing-based 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 (not shown) are disposed on the cavity wall of the receiving cavity 30 of the bionic hand 1. These electromyographic electrodes are used to collect action potentials generated by muscles and form electromyographic signals on the surface of the residual limb.

[0055] The bionic hand 1 also includes a control device 10 for performing a pressure-sensing-based bionic hand control method, 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 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).

[0056] The bionic hand control method based on pressure sensing specifically includes the following steps.

[0057] Step S102: Detect the contact pressure between the finger and the object being touched.

[0058] In this embodiment, the control device 10 is capable of receiving electromyographic (EMG) signals generated by the electromyographic electrodes stimulating the surface of the residual limb. The control device 10 receives the EMG signals from the EMG electrodes and controls the finger 21 corresponding to the EMG signal to bend based on the EMG signal on the surface of the residual limb. During the movement of the finger 21, the control device 10 detects the contact pressure between the finger 21 and a contacting object. The contacting object is the object that comes into contact with the finger 21.

[0059] The specific process for detecting the contact pressure between a finger and an object will be described in detail below.

[0060] Step S104: When the contact pressure is detected to be within the preset pressure range, control the finger to bend to the initial angle.

[0061] In this embodiment, the control device 10 controls the corresponding finger 21 to bend based on the detected contact pressure. Specifically, the control device 10 first controls the finger 21 to bend to a certain bending angle based on the received electromyographic signals, then the control device 10 detects the contact pressure between the finger 21 and the contacting object, and then continues to control the finger 21 to bend based on the detected contact pressure. The bending angle can represent the angle formed between the distal portion of the finger 21 (corresponding to the distal phalanx) and the palm plane when the finger 21 bends; the larger the angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the bending angle can also represent the angle formed between any part of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 bends.

[0062] When the detected contact pressure is within the preset pressure range, the control device 10 controls the finger 21 to bend to the initial angle. Specifically, the preset pressure range is a standard pressure range used to determine whether the movement of the finger 21 is effective. When the contact pressure is within the preset pressure range, it indicates that the contact pressure between the finger 21 and the contacting object is appropriate, and the movement of the finger 21 is an effective movement. The control device 10 then controls the finger 21 to stop bending and simultaneously controls the finger 21 to bend to the initial angle. Each finger 21 corresponds to an initial angle, which is a preset bending angle of the finger 21 when no corresponding electromyographic signal is received. The specific numerical range of the preset pressure range can be set according to the actual application scenario and is not limited here. The initial angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing corresponding electromyographic data and bending data extracted from multiple training sessions; this is not limited here.

[0063] For example, when all fingers 21 have an initial angle of 0° and are at their initial angles, the bionic hand 1 is in an extended state. The control device 10 controls the index finger to bend to a certain angle, such as 10°, based on received electromyographic signals. Then, the control device 10 detects the contact pressure between the index finger and the object. When the detected contact pressure is within a preset pressure range, the control device 10 controls the index finger to bend to 0°, i.e., the initial angle.

[0064] In this embodiment, during the bending process of the finger, the contact pressure between the finger and the object is detected in real time, and the finger movement is further controlled according to the magnitude of the contact pressure. This allows for more precise control of the finger's movement based on the force with which the finger presses against the object. When the detected contact pressure is within a preset pressure range, it indicates that the force with which the finger presses against the object is appropriate and the finger has completed the pressing action correctly. The finger is then controlled to return to its initial angle, achieving precise control of the finger.

[0065] Please refer to the following: Figure 2 This is a first sub-flowchart of the pressure-sensing-based bionic hand control method provided in this embodiment of the invention. Before executing step S102, the pressure-sensing-based bionic hand control method further includes the following steps.

[0066] Step S202: Identify the scene mode corresponding to the received trigger information.

[0067] 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 bending angle of the fingers 21 when they bend.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Step S204: In scene mode, control the finger corresponding to the received electromyographic signal to bend.

[0074] 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 can be 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.

[0075] For example, if the current scene mode of the bionic hand 1 is typing, in the typing scene, the initial angle of all fingers 21 is 0°; the preset angle range of the index finger is 5-20°, 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 5-10°. 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 from 0° to the range of 5-20°; 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 from 0° to the range of 5-15°; 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 from 0° to the range of 5-20°; 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 from 0° to the range of 5-10°.

[0076] In this embodiment, the corresponding scene mode is identified based on the received trigger data. In the scene mode, the corresponding finger is controlled to bend from the initial angle to the corresponding preset angle range based on 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 control efficiency.

[0077] Please refer to the following: Figure 3 This is the second sub-flowchart of the pressure-sensing-based bionic hand control method provided in this embodiment of the invention. Step S102 includes the following steps.

[0078] Step S302: Detect the load current of the finger's drive motor.

[0079] In this embodiment, each finger 21 is equipped with a drive motor 211, which drives the finger 21 to bend. The control device 10 is electrically connected to the drive motor 211. During the process of bending the finger 21 to a preset bending angle, the control device 10 detects the load current of the corresponding drive motor 211. Each finger 21 is equipped with at least one drive motor 211.

[0080] Step S304: Calculate the contact pressure based on the load current.

[0081] In this embodiment, the control device 10 calculates the corresponding contact pressure based on the measured load current. The process of calculating the contact pressure based on the load current is basically the same as that in existing systems, and will not be described in detail here.

[0082] In this embodiment, the load current of the finger's drive motor is detected, and the contact pressure between the finger and the object can be quickly calculated based on the magnitude of the load current to obtain the finger's pressing condition, thereby enabling a rapid response and improving the finger's control efficiency.

[0083] Please refer to the following: Figure 4 and Figure 8 , Figure 4 This is the third sub-flowchart of the bionic hand control method based on pressure sensing provided in an embodiment of the present invention. Figure 8 This is a second schematic diagram of a bionic hand provided in an embodiment of the present invention. Step S102 includes the following steps.

[0084] Step S402: Detect the pressure value of the finger pressure sensor.

[0085] In this embodiment, each finger 21 is equipped with a pressure sensor 212, which is used to detect the pressure value of the corresponding finger 21. The control device 10 is communicatively connected to the pressure sensor 212. During the process of bending the finger 21 to a preset bending angle, the control device 10 detects the pressure value of the corresponding pressure sensor 212. Each finger 21 is provided with a pressure sensor 212.

[0086] Step S404: Use the pressure value as the contact pressure.

[0087] In this embodiment, the pressure sensor detects the contact pressure between the finger and the object, which can quickly and easily obtain the finger's pressing status, thereby enabling a rapid response and improving the finger's control efficiency.

[0088] Please refer to the following: Figure 5 This is the fourth sub-flowchart of the pressure-sensing-based bionic hand control method provided in this embodiment of the invention. After executing step S104, the pressure-sensing-based bionic hand control method further includes the following steps.

[0089] Step S502: When the contact pressure is detected to be less than the minimum value of the preset pressure range, a second prompt message is sent.

[0090] In this embodiment, when the detected contact pressure is less than the minimum value of the preset pressure range, the control device 10 sends a second prompt message. Specifically, when the detected contact pressure is less than the minimum value of the preset pressure range, it indicates that the movement of the finger 21 is too light and the finger 21 has failed to meet the movement standard, so the control device 10 sends a second prompt message. The second prompt message is used to prompt the wearer so that the wearer can adjust the control of the bionic hand 1 in a timely manner according to the second prompt message. The second prompt message can be voice information, vibration information, etc.

[0091] For example, if the current scenario for the bionic hand 1 is playing the piano with one finger, the control device 10 controls the index finger to bend based on electromyographic signals and detects that the contact pressure between the index finger and the piano key is less than the minimum value of a preset pressure range. Understandably, lower contact pressure between the index finger and the key indicates that the index finger has not fully pressed the key, and the sound produced by the piano may be weak. Therefore, the movement of the index finger is considered a non-standard movement, and the control device 10 can control the bionic hand 1 to vibrate briefly twice to alert the wearer.

[0092] Step S504: When the next electromyographic signal is received, determine whether the next electromyographic signal matches the currently bent finger.

[0093] In this embodiment, the wearer can send an electromyographic signal again based on the second prompt message to adjust the control of the finger 21. After sending the second prompt message, the control device 10 determines whether it has received the next electromyographic signal. When the next electromyographic signal is received, the control device 10 determines whether the received next electromyographic signal matches the currently bent finger 21.

[0094] When the next electromyographic signal matches the currently bent finger, proceed to step S506; when the next electromyographic signal does not match the currently bent finger, proceed to step S508.

[0095] Step S506: Control the currently bent finger to continue bending.

[0096] When the next electromyographic signal matches the currently bent finger, it indicates that the wearer is adjusting the bending angle of the currently bent finger 21. The control device 10 then controls the currently bent finger 21 to continue bending and increase the bending angle so that the contact pressure between the finger 21 and the contacting object can reach the preset pressure range.

[0097] Step S508: Control the currently bent finger to bend to the initial angle.

[0098] When the next electromyographic signal does not match the currently bent finger, it means that the wearer no longer controls the currently bent finger, but wants to control a new finger 21 to bend. Then the control device 10 controls the currently bent finger 21 to bend to the initial angle.

[0099] Step S510: Control the corresponding finger to bend according to the next electromyographic signal.

[0100] In this embodiment, while controlling the currently bent finger 21 to bend to the initial angle, the control device 10 also controls the finger 21 corresponding to the received next electromyographic signal to bend. It is understood that when the control device 10 controls a new finger 21 to bend, it still needs to detect the contact pressure between the new finger 21 and the contacting object, in order to adjust the control of the finger 21 according to the contact pressure.

[0101] In this embodiment, when the detected contact pressure is less than the minimum value of the preset pressure range, it indicates that the finger is not pressing the object firmly enough and the pressing action is not standardized. A second prompt message is then sent to remind the wearer to make adjustments. After receiving the second prompt message, the wearer can continue to control the currently bent finger to apply greater pressure to the object, thus achieving a standard pressing action; alternatively, the wearer can stop controlling the currently bent finger and instead control other fingers to achieve precise finger control.

[0102] Please refer to the following: Figure 6 This is the fifth sub-flowchart of the pressure-sensing-based bionic hand control method provided in this embodiment of the invention. Step S104 further includes the following steps.

[0103] Step S602: When the contact pressure is detected to be zero, a first prompt message is sent.

[0104] In this embodiment, when zero contact pressure is detected, the control device 10 sends a first prompt message. Specifically, when zero contact pressure is detected, it indicates that the finger 21 is not in contact with the contact object, or the finger 21 only contacts the surface of the contact object without applying pressure, and the action of the finger 21 is invalid. Therefore, the control device 10 sends the first prompt message. The first prompt message is used to inform the wearer so that the wearer is aware of the current status of the controlled finger 21 and can adjust the distance between the bionic hand 1 and the contact object in a timely manner. The first prompt message can be voice information, vibration information, etc., and it differs from the second prompt message. For example, the second and first prompt messages may have different voice content, or they may have different vibration counts and / or vibration frequencies.

[0105] Understandably, when the contact pressure between finger 21 and the contacting object is detected to be zero, even if the bending angle of finger 21 reaches the standard flexion and extension angle range and is a standard action, the action of finger 21 is still considered invalid.

[0106] Step S604: Control the fingers to bend to the initial angle.

[0107] In this embodiment, while sending the first prompt message, the control device 10 controls the finger 21 to bend to the initial angle.

[0108] In this embodiment, when the detected contact pressure is zero, it indicates that the finger is not pressing on the contact object, and the finger's movement is invalid. A first prompt message is then sent to remind the wearer to make adjustments. After receiving the first prompt message, the wearer can adjust the distance between the bionic hand and the contact object, and after adjusting the distance, control the finger to bend again, allowing the finger to accurately press on the contact object.

[0109] Please refer to the following: Figure 9 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.

[0110] Those skilled in the art will understand that Figure 9 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.

[0111] like Figure 9 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.

[0112] exist Figure 9 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 pressure-sensing bionic hand control method are implemented.

[0113] 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 pressure-sensing-based bionic hand control method described in the foregoing embodiments is implemented.

[0114] Please refer to the following: Figure 10 This is a schematic diagram of the control device for the bionic hand provided in the first embodiment of the present invention. The control device 40 for the bionic hand includes a detection module 41 and a first control module 42.

[0115] The detection module 41 is used to detect the contact pressure between the finger and the object being touched.

[0116] In this embodiment, the control device 40 is capable of receiving electromyographic signals generated by electromyographic electrodes stimulating the surface of the residual limb. The control device 40 receives the electromyographic signals transmitted by the electrodes and controls the finger 21 corresponding to the electromyographic signals on the surface of the residual limb to bend. During the movement of the finger 21, the detection module 41 detects the contact pressure between the finger 21 and the contacting object. The contacting object is the object that comes into contact with the finger 21.

[0117] The first control module 42 is used to control the finger to bend to the initial angle when the contact pressure is detected to be within the preset pressure range.

[0118] In this embodiment, the first control module 42 controls the corresponding finger 21 to bend according to the detected contact pressure. Specifically, the control device 40 first controls the finger 21 to bend to a certain bending angle according to the received electromyographic signal, and then the detection module 41 detects the contact pressure between the finger 21 and the contacting object. The first control module 42 continues to control the finger 21 to bend according to the detected contact pressure. The bending angle can represent the angle formed between the distal phalanx (corresponding to the distal phalanx) of the finger 21 and the palm plane when the finger 21 bends; the larger the angle, the greater the degree of bending of the finger 21. In some feasible embodiments, the bending angle can also represent the angle formed between any part of the finger 21 (corresponding to the middle or proximal phalanx) and the palm plane when the finger 21 bends.

[0119] When the detected contact pressure is within the preset pressure range, the first control module 42 controls the finger 21 to bend to the initial angle. Specifically, the preset pressure range is a standard pressure range used to determine whether the movement of the finger 21 is effective. When the contact pressure is within the preset pressure range, it indicates that the contact pressure between the finger 21 and the contacting object is appropriate, and the movement of the finger 21 is an effective movement. The first control module 42 then controls the finger 21 to stop bending and simultaneously controls the finger 21 to bend to the initial angle. Each finger 21 corresponds to an initial angle, which is a preset bending angle of the finger 21 when no corresponding electromyographic signal is received. The specific numerical range of the preset pressure range can be set according to the actual application scenario and is not limited here. The initial angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing corresponding electromyographic data and bending data extracted from multiple training sessions; this is not limited here.

[0120] Please refer to the following: Figure 11 This is a schematic diagram of the control device for the bionic hand provided in the second embodiment of the present invention. The control device 40 for the bionic hand also includes a sending module 43 and a second control module 44.

[0121] The sending module 43 is used to send a first prompt message when the contact pressure is detected to be zero.

[0122] In this embodiment, when zero contact pressure is detected, the sending module 43 sends a first prompt message. Specifically, when zero contact pressure is detected, it indicates that the finger 21 is not in contact with the contact object, or the finger 21 only contacts the surface of the contact object without applying pressure, and the action of the finger 21 is invalid. Therefore, the sending module 43 sends the first prompt message. The first prompt message is used to inform the wearer so that the wearer is aware of the current status of the controlled finger 21 and can adjust the distance between the bionic hand 1 and the contact object in a timely manner. The first prompt message can be voice information, vibration information, etc.

[0123] Understandably, when the contact pressure between finger 21 and the contacting object is detected to be zero, even if the bending angle of finger 21 reaches the standard flexion and extension angle range and is a standard action, the action of finger 21 is still considered invalid.

[0124] The second control module 44 is used to control the finger to bend to the initial angle.

[0125] In this embodiment, while the sending module 43 sends the first prompt information, the second control module 44 controls the finger 21 to bend to the initial angle.

[0126] Please refer to the following: Figure 12This is a schematic diagram of the first module 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] The specific structure of the control device 10 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.

[0131] Please refer to the following: Figure 13 This is a schematic diagram of the second module of the bionic hand provided in an embodiment of the present invention. The bionic hand body 20 includes a plurality of fingers 21, and each finger 21 is provided with a drive motor 211.

[0132] In this embodiment, the drive motor 211 is used to drive the finger 21 to bend, and the drive motor 211 is electrically connected to the control device 40. Each finger 21 is provided with at least one drive motor 211.

[0133] Please refer to the following: Figure 14 This is a schematic diagram of the third module of the bionic hand provided in an embodiment of the present invention. In some embodiments, each finger 21 is provided with a drive motor 211 and a pressure sensor 212.

[0134] In this embodiment, the pressure sensor 212 is used to detect the pressure value of the corresponding finger 21, and the pressure sensor 212 is communicatively connected to the control device 40. Each finger 21 is provided with a pressure sensor 212.

[0135] 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 pressure-sensing-based bionic hand control method, wherein the bionic hand comprises a plurality of fingers, characterized in that, The pressure-sensing-based bionic hand control method includes: Detecting the contact pressure between the finger and the object being touched; and When the contact pressure is detected to be within a preset pressure range, the finger is controlled to bend to an initial angle, with each finger corresponding to an initial angle; After detecting the contact pressure between the finger and the object, the pressure-sensing-based bionic hand control method further includes: When the contact pressure is detected to be less than the minimum value of the preset pressure range, a second prompt message is sent; Upon receiving the next electromyographic signal, determine whether the next electromyographic signal matches the currently bent finger; When the next electromyographic signal matches the currently bent finger, the currently bent finger is controlled to continue bending; When the next electromyographic signal does not match the currently bent finger, the currently bent finger is controlled to bend back to the initial angle; and The corresponding finger is controlled to bend according to the next electromyographic signal.

2. The bionic hand control method based on pressure sensing according to claim 1, characterized in that, After detecting the contact pressure between the finger and the object, the pressure-sensing-based bionic hand control method further includes: When the contact pressure is detected to be zero, a first notification message is sent; and Control the finger to bend to the initial angle.

3. The bionic hand control method based on pressure sensing according to claim 1, characterized in that, The finger is equipped with a drive motor, and the detection of the contact pressure between the finger and the contacting object includes: Detect the load current of the drive motor of the finger; and The contact pressure is calculated based on the load current.

4. The bionic hand control method based on pressure sensing according to claim 1, characterized in that, The finger is equipped with a pressure sensor, and the detection of the contact pressure between the finger and the object includes: The pressure value of the pressure sensor on the finger is detected; and The pressure value is used as the contact pressure.

5. The bionic hand control method based on pressure sensing according to claim 1, characterized in that, Before detecting the contact pressure between the finger and the object being contacted, the pressure-sensing-based bionic hand control method further 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.

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