Segmented control methods and control devices for bionic hands and their fingers

Abstract

This invention discloses a segmented control method for the fingers of a bionic hand, applied to a bionic hand comprising several fingers. The segmented control method includes: upon receiving electromyographic signals, controlling the corresponding finger to bend from an initial angle to a first angle; while continuously receiving electromyographic signals, controlling the finger to gradually straighten from the first angle; and when the finger bends to a second angle, controlling the finger to stop bending; wherein the second angle is greater than the first angle. This segmented control method for the fingers of a bionic hand solves the problem of difficulty in controlling pressure-sensitive operations in a bionic hand. Furthermore, this invention also discloses a 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 segmented control method and control device for a bionic hand and its fingers. 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 the electromyographic signals of the residual limb that controls the flexion and extension. When the electromyographic signals of the residual limb end, the finger automatically returns to the open position.

[0003] However, existing bionic hands cannot accurately control the bending of fingers based on electromyographic signals, thus making it impossible to perform special pressure-sensitive controls, such as adjusting volume by applying slight pressure after pressing a button. Summary of the Invention

[0004] The main objective of this invention is to propose a segmented control method and control device for a bionic hand and its fingers, aiming to solve the problem that the fingers of a bionic hand are difficult to control pressure-sensitive operations.

[0005] To achieve the above objectives, one aspect of the present invention provides a segmented control method for the fingers of a bionic hand, applied to a bionic hand comprising a plurality of fingers, the segmented control method for the fingers of the bionic hand comprising:

[0006] When receiving electromyographic signals, the corresponding finger is controlled to bend from the initial angle to the first angle.

[0007] When continuously receiving electromyographic signals, control the finger to gradually bend and straighten from the first angle;

[0008] When the finger bends to the second angle, control the finger to stop bending;

[0009] The second angle is greater than the first angle.

[0010] In some embodiments, before controlling the corresponding finger to bend from an initial angle to a first angle when receiving electromyographic signals, the method further includes:

[0011] The bionic hand enters the corresponding scene mode based on the received trigger signal. Each finger has a first angle, a second angle, and an initial angle corresponding to different scene modes.

[0012] In some embodiments, when receiving electromyographic signals, controlling the corresponding finger to bend from an initial angle to a first angle includes:

[0013] Determine whether the received electromyographic signals match the scene pattern;

[0014] If the electromyographic signal matches the scene pattern, the corresponding finger is controlled to bend from the initial angle to the first angle.

[0015] In some embodiments, before determining whether the received electromyographic signal matches the scene pattern, the method further includes:

[0016] Determine whether the first duration after receiving the electromyographic signal is greater than or equal to the duration threshold;

[0017] If the first duration is greater than or equal to the duration threshold, then it is determined whether the received electromyographic signal matches the scene mode.

[0018] In some embodiments, controlling the finger to gradually bend from a first angle until it reaches a second angle includes:

[0019] Control the finger to bend at a corresponding preset bending speed during the second duration;

[0020] The second duration is the duration calculated from the time the electromyographic signal starts to bend the finger to the first angle, and each finger has a preset bending speed corresponding to different scene modes.

[0021] In some embodiments, the speed at which the finger bends from an initial angle to a first angle is greater than a preset bending speed.

[0022] In some embodiments, controlling the finger to gradually bend from a first angle includes:

[0023] Determine whether the received electromyographic signal corresponds to the currently bent finger;

[0024] If the condition is met, the fingers should maintain their current bending motion.

[0025] In some embodiments, if the received electromyographic signal does not correspond to the currently bent finger, the finger is restored to its initial angle.

[0026] Another aspect of the present invention provides a control device comprising:

[0027] Memory is used to store executable instructions for a computer; and

[0028] A processor is used to execute computer-executable instructions to implement the segmented control method of the bionic hand fingers as described above.

[0029] Another aspect of the present invention provides a bionic hand, which includes a bionic hand body, an electromyography (EMG) signal acquisition device, and a control device as described above. The control device is used to control the fingers of the bionic hand body according to the EMG signals of the residual limb acquired by the EMG signal acquisition device.

[0030] In the technical solution of this invention, when the bionic hand receives the corresponding electromyographic signal, it bends directly from the initial angle to the first angle according to the pre-adjusted settings, thereby enabling the user to complete the basic operation they wish to perform. After the basic operation is completed, the fingers of the bionic hand continue to bend as the duration of the current electromyographic signal continues. Thus, in this invention, the fingers of the bionic hand complete the basic operation and subsequent operations based on the basic operation in segments, enabling the user to perform more complex operations such as pressure-sensitive control. Furthermore, during the control of the fingers, a matching detection between the currently bent finger and the received electromyographic signal is maintained at all times. This allows for timely response to user needs when the user wants to change finger movements, improving the user experience of the bionic hand. Attached Figure Description

[0031] Figure 1 A flowchart illustrating the segmented control method for the fingers of a bionic hand according to an embodiment of the present invention;

[0032] Figure 2 A flowchart of a segmented control method for the fingers of a bionic hand according to another embodiment of the present invention;

[0033] Figure 3 This is a sub-flowchart of the segmented control method for the fingers of the bionic hand according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the bionic hand according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the control device according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the bionic hand module according to an embodiment of the present invention.

[0037] 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

[0038] 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.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, top, bottom, side, 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.

[0040] 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.

[0041] 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.

[0042] In response to the technical defects existing in related technologies, such as Figure 1 As shown, this embodiment provides a bionic hand 1, which includes a palm 22 and several fingers 21 movably connected to the palm 22, a receiving cavity 30, and a control device 10. The bionic hand 1 is fixed to the wearer's arm through the receiving cavity 30, the cavity wall of which fits against the wearer's arm muscles. Multiple electromyographic electrodes (not shown) are disposed on the cavity wall of the receiving cavity 30 of the bionic hand 1. The electromyographic electrodes are used to collect electromyographic signals generated by the muscles, and the control device 10 is electrically connected to the electromyographic electrodes.

[0043] Continue to refer to Figure 2 As shown, Figure 2 This is a flowchart of the control method for the bionic hand in this embodiment. In this embodiment, the control device 10 is used to execute... Figure 2 The control method of the bionic hand shown is to control the flexion and extension movements of the fingers 21. The relevant functions of the control device 10 can be implemented by a single device, multiple devices working together, or one or more functional modules within a single device; no specific limitation is made here. It is understood that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, a combination of hardware and software, or virtualization functions instantiated on a platform (e.g., a cloud platform).

[0044] In this embodiment, the segmented control method for the fingers of the bionic hand specifically includes the following steps.

[0045] Step S102: When receiving electromyographic signals, control the finger corresponding to the currently received electromyographic signal to bend from the initial angle to the first angle.

[0046] In this embodiment, the control device 10 can receive electromyographic signals collected by electromyographic electrodes. When the control device 10 receives the electromyographic signal, it controls the finger 21 corresponding to the currently received electromyographic signal to bend from an initial angle to a first angle. Each finger 21 corresponds to an initial angle and a first angle. It should be noted that the "angle" mentioned herein is a relative angle. For example, the initial angle is the relative angle between the finger 21 and the palm 22 without any control, and the first angle is the relative angle between the finger 21 and the palm 22 after controlled bending. Of course, the relative object of the "angle" is not necessarily the palm 22. For example, the initial angle can be the angle between the finger 21 and other structures of the bionic hand without any control. The meaning of "angle" is the same as that of the following instances and will not be repeated.

[0047] For example, the initial angle is the bending angle of the finger 21 relative to the palm 22 before receiving the electromyographic signal. It can also be understood as the bending angle of the finger 21 relative to the palm 22 in its normal state. The initial angle is preset according to actual needs, so the initial angles of different fingers 21 can be the same or different. The initial angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing the corresponding electromyographic signals and bending data extracted from multiple training sessions, etc., without limitation here.

[0048] The first angle is the bending angle of finger 21 under the control of the control device 10 at the moment the electromyographic signal is received. It should be noted that in this embodiment, finger 21 can complete the basic operation the user wants to perform simply by bending from the initial angle to the first angle. The first angle is also preset according to actual needs, so the first angles of different fingers 21 can be the same or different. The first angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing corresponding electromyographic signals and bending data extracted from multiple training sessions; no limitation is made here.

[0049] Step S103: Monitor whether the current electromyographic signal is continuously received. If the control device 10 can continuously receive the electromyographic signal that caused the finger 21 to bend to the first angle in step S102, it is considered that the current electromyographic signal is continuously received. If the current electromyographic signal received by the control device 10 is interrupted or changes to other electromyographic signals, it is considered that the current electromyographic signal is no longer continuous.

[0050] Step S104: When continuously receiving electromyographic signals, control the finger to gradually bend from the first angle.

[0051] In this embodiment, after finger 21 bends from the initial angle to the first angle, if the current electromyographic signal is continuously received, the control device 10 controls finger 21 to continue bending from the first angle. As long as the electromyographic signal is not interrupted, finger 21 will continue to bend. After finger 21 bends to the second angle, it will receive a stop command and maintain the position at the second angle for the duration of the current electromyographic signal.

[0052] The second angle is greater than the first angle; that is, the second angle is the maximum angle at which finger 21 should bend. It should be understood that the second angle is also preset according to actual needs, so the second angles of different fingers 21 can be the same or different. The second angle can be preset by the wearer according to usage habits or personal preferences, or it can be generated by analyzing corresponding electromyographic signals and bending data extracted from multiple training sessions; no limitation is made here.

[0053] In this embodiment, the process of finger 21 bending from the first angle to the second angle is to perform subsequent operations based on the basic operation described above. For example, the basic operation is to hold a mobile phone. That is, when finger 21 bends from the initial angle to the first angle, it can perform the operation of holding the mobile phone. Afterwards, while the electromyographic signal for performing the basic operation is continuously received, finger 21 bends from the first angle. During this process, finger 21 can continue to apply pressure to the buttons and other components on the mobile phone while holding it, thereby enabling subsequent operations such as turning off the phone or adjusting the volume.

[0054] Of course, in addition to the operational examples mentioned above, the segmented control method of the bionic hand fingers in this embodiment can be applied to other pressure-sensitive control operations, thereby enabling users to perform other complex operations.

[0055] In some embodiments, such as Figure 3 As shown, the segmented control method for the bionic hand fingers before step S102 also includes:

[0056] Step S101: Based on the received trigger signal, the bionic hand enters the corresponding scene mode.

[0057] In this embodiment, the control device 10 can receive a trigger signal and control the bionic hand to enter the corresponding scene mode according to the currently received trigger signal. In a specific scene mode, the control device 10 can only control the finger 21 corresponding to the current scene mode to move. Specifically, the scene mode can include a single-finger scene and a multi-finger scene. A single-finger scene means that the control device 10 can only control one finger 21 to move at a time, while a multi-finger scene means that the control device 10 can control multiple fingers 21 to move at a time. A single-finger scene can include playing the piano, typing, etc., while a multi-finger scene can include playing the piano, writing, grasping, etc. Each finger has a first angle, a second angle, and an initial angle corresponding to different scene modes.

[0058] Trigger signals include electromyographic (EMG) signals, inertial sensing signals, and / or control signals. A trigger signal can be any one of these three signals, or a combination of any two. The wearer can generate EMG signals through hand gestures, which can then serve as trigger signals. The wearer can also generate inertial sensing signals through hand gestures, which can then serve as trigger signals. Furthermore, the wearer can send control signals via external devices, which can also serve as trigger signals.

[0059] Specifically, when the wearer makes a certain gesture, the electromyographic electrodes collect electromyographic data and combine it into an electromyographic signal, which is then sent to the control device 10 as a trigger signal. The bionic hand 1 also includes an inertial measurement unit (IMU) that is communicatively connected to the control device 10. When the wearer makes a certain gesture, the inertial sensor collects inertial sensing signals and sends them to the control device 10 as trigger signals. The control device 10 is also communicatively connected to external devices. When the wearer generates a control signal through an external device, the external device sends that control signal to the control device 10 as a trigger signal.

[0060] In this embodiment, each finger 21 corresponds to an initial angle in each scene mode. Within the same scene mode, the initial angles corresponding to different fingers 21 can be the same or different. Within different scene modes, the initial angles corresponding to the same finger 21 can be the same or different.

[0061] When the bionic hand enters different scene modes, the bending range of each finger 21 is limited to the initial angle to the second angle of the current scene mode. Within the same scene mode, the first angle, second angle, and initial angle of different fingers 21 can be the same or different. Conversely, the first angle, second angle, and initial angle of the same finger 21 can be the same or different across different scene modes. That is, the specific sizes of the first angle, second angle, and initial angle can be preset by the wearer according to usage habits or personal preferences, or they can be generated by analyzing electromyographic signals extracted during control training and the bending data of the finger 21, etc., without any limitations here. However, within a single scene mode, one finger 21 corresponds to only one first angle, second angle, and initial angle.

[0062] In some embodiments, the control device 10 can acquire a scene mode corresponding to a preset signal when it detects that a trigger signal matches a preset signal. Specifically, the control device 10 has a preset signal pre-set. The control device 10 matches the received trigger signal with the preset signal for identification. When the trigger signal matches the preset signal, the control device 10 acquires the scene mode corresponding to the preset signal. It can be understood that the control device 10 only needs to match the trigger signal with the preset signal when the trigger signal is an electromyographic signal or an inertial sensing signal; when the trigger signal is a control command, the control device 10 directly acquires the corresponding scene mode according to the control command. That is to say, the control command can directly control the bionic hand 1 to enter the corresponding scene mode, and each control command corresponds to one scene mode.

[0063] For example, the preset signal can be the electromyographic (EMG) signal generated by all the fingers 21 of the bionic hand 1 making two consecutive clenching and opening fist gestures; it can also be the EMG signal generated by a single specific finger 21 of the bionic hand 1 making multiple consecutive rapid bending and opening gestures; the preset signal can also be the inertial sensing signal generated when the wrist of the bionic hand 1 rotates. The specific correspondence between the preset signal and the scene mode can be set by the wearer and is not limited here. The preset signal can be different from the EMG signal or inertial sensing signal generated when the bionic hand 1 performs routine daily movements to avoid the wearer accidentally triggering a specific scene mode during daily activities.

[0064] In some embodiments, step S102 includes the following process:

[0065] Determine whether the received electromyographic signals match the scene pattern.

[0066] If the electromyographic signal matches the scene pattern, then the finger corresponding to the current electromyographic signal is controlled to bend from the initial angle to the first angle.

[0067] If the electromyographic signals do not match the scene pattern, control all fingers to maintain the initial angle.

[0068] In this embodiment, after the bionic hand 1 enters the corresponding scene mode, the control device 10 receives electromyographic (EMG) signals sent by the EMG electrodes and determines whether the EMG signals match the current scene mode. When the received EMG signals match the current scene mode, the control device 10 controls the finger 21 corresponding to the received EMG signals to move. Specifically, after receiving the EMG signals, the control device 10 classifies and detects the EMG signals to obtain their type and quantity. The control device 10 can determine whether the EMG signals match the current scene mode based on the quantity or type of the received EMG signals.

[0069] Understandably, when the electromyographic signal matches the scene mode, the control device 10 acquires the finger 21 corresponding to the electromyographic signal based on the type of the signal, and controls the finger 21 to move from an initial angle to a first angle. Here, the angle represents the angle formed between the finger 21 and the palm plane when the finger 21 is bent; the larger the angle, the greater the degree of bending of the finger 21.

[0070] For example, if the current scenario mode of the bionic hand 1 is adjusting the phone volume, in this scenario mode, the initial angle of all fingers 21 is 180°. Specifically, the index finger's first angle is 20°, and its second angle is 23°; the thumb's first angle is 10°, and its second angle is 13°. When receiving electromyographic signals, the index finger and thumb simultaneously bend to the first angle, thus completing the basic operation of gripping the phone. Subsequently, as the electromyographic signals continue to be received, the index finger and thumb gradually bend from the first angle, allowing them to press the phone's buttons and complete the subsequent operation of adjusting the volume. During this process, after the index finger bends to 23° and the thumb bends to 13°, even if the electromyographic signals are still ongoing, the index finger and thumb will not bend further.

[0071] In some embodiments, before determining whether the received electromyographic signal matches the scene pattern in step S102, the method further includes:

[0072] Determine whether the first duration after receiving the electromyographic signal is greater than or equal to the duration threshold.

[0073] If the first duration is greater than or equal to the duration threshold, then it is determined whether the received electromyographic signal matches the scene mode.

[0074] If the first duration is less than the duration threshold, the initial state of the bionic hand is maintained.

[0075] In this embodiment, after receiving the electromyographic (EMG) signal, the control device 10 also detects the duration of the EMG signal. Upon receiving the EMG signal, the control device 10 records the corresponding reception time and calculates the duration of the EMG signal. The control device 10 determines whether the duration of the EMG signal is greater than or equal to a duration threshold. When the duration of the EMG signal is greater than or equal to the duration threshold, it indicates that the received EMG signal is a valid control signal, and the control device 10 controls the finger 21 corresponding to the EMG signal to move from the initial angle to the first angle. The duration threshold can be set according to the actual control situation and is not limited here.

[0076] Understandably, after receiving the electromyographic (EMG) signal from the EMG electrodes, the control device 10 can first determine whether the EMG signal matches the current scene mode. Once the EMG signal matches the current scene mode, the control device 10 then checks whether the duration of the EMG signal is greater than or equal to a duration threshold. By detecting the duration of the received EMG signal, and only controlling the finger 21 to move if the duration is greater than or equal to the duration threshold, the control device 10 can avoid fluctuations in the EMG signal or misoperation.

[0077] In some embodiments, the process of controlling the finger to gradually bend from the first angle in step S104 includes:

[0078] The finger 21 is controlled to bend at a corresponding preset bending speed during the second duration.

[0079] The second duration is the duration calculated from the time the electromyographic signal starts bending from the finger 21 to the first angle. Each finger 21 has a preset bending speed corresponding to different scene modes. In this embodiment, after the finger 21 bends from the initial angle to the first angle based on the electromyographic signal, the control device 10 also monitors whether the current electromyographic signal that caused the finger 21 to bend to the first angle is continuously received.

[0080] If the electromyographic signal is still being received, the finger 21 is controlled to bend at the corresponding preset bending speed during the second duration.

[0081] For example, if the current scenario mode of the bionic hand 1 is adjusting the phone volume, in this scenario mode, the initial angle of all fingers 21 is 180°. Specifically, the index finger's first angle is 20° and its second angle is 23°; the thumb's first angle is 10° and its second angle is 13°. When receiving electromyographic signals, the index finger bends 20° and the thumb bends 10° to perform the basic operation of holding the phone. Then, monitoring shows that as the electromyographic signals continue to be received, the index finger and thumb bend from their first angles at preset bending speeds, for example: the preset bending speed for the index finger is 0.1° per second, and the preset bending speed for the thumb is 0.05° per second. The bending duration of the index finger and thumb is the same as the duration of the electromyographic signal calculated from the time the finger 21 bends to the first angle. That is to say, during the duration of the electromyographic signal calculated from the time the finger 21 bends to the first angle, the finger 21 will continue to bend at a preset bending speed until the electromyographic signal is interrupted or the second angle is reached. In this way, the index finger and thumb gradually bend from the first angle, so as to test the keypad of the mobile phone and complete the subsequent operation of adjusting the volume.

[0082] In this embodiment, each finger 21 is pre-set with an initial angle, a first angle, and a second angle corresponding to the current scene mode. Upon receiving an electromyographic signal, the corresponding finger is controlled to move from the initial angle to the first angle to ensure that the bionic hand performs the basic operation the user wants to perform (such as picking up a phone). Subsequently, as the duration of the received electromyographic signal increases, the finger is controlled to gradually bend from the first angle, bending to a maximum of the second angle, thereby enabling subsequent operations based on the basic operation (such as pressing a phone button) to be performed as the duration of the electromyographic signal increases. For example, when the finger is at the first angle, the pressing pressure is the lightest, so even if the phone is picked up, no pressure is applied to the phone buttons, thus only the operation of picking up the phone is performed. As the finger gradually bends from the first angle, the pressure of the finger on the phone buttons gradually increases, thereby producing different pressing effects on the phone buttons and enabling more precise control of pressure-sensitive operation.

[0083] Understandably, if the current electromyographic signal is interrupted after the corresponding finger 21 is bent to the first angle, the control device 10 controls the finger 21 to return to the initial angle, and then controls the corresponding finger 21 according to the subsequently received electromyographic signals. The subsequently received electromyographic signals can be the same as or different from the previous electromyographic signal, and no specific restrictions are made here.

[0084] In some embodiments, the speed at which the finger bends from the initial angle to the first angle is greater than a preset bending speed. It is understood that a faster speed at which finger 21 moves from the initial angle to the first angle allows for quick completion of basic operations, thereby improving the operational efficiency of the bionic hand. A relatively slower preset bending speed of finger 21 allows for fine-tuning of the execution process of subsequent operations, thereby effectively improving control efficiency.

[0085] like Figure 4 As shown, in some embodiments, controlling the finger 21 to gradually bend from a first angle includes:

[0086] Determine whether the received electromyographic signal corresponds to the currently bent finger.

[0087] In this embodiment, when finger 21 is continuously bent at a preset bending speed to reach a second angle, the control device 10 determines whether the received electromyographic signal corresponds to the currently bent finger 21. That is, the control device 10 determines whether it still receives the electromyographic signal of the currently bent finger 21.

[0088] When the received electromyographic signal corresponds to the currently bent finger, the control device 10 maintains the current bending process of the finger 21. If multiple electromyographic signals are received simultaneously, the control device 10 can determine whether there is an electromyographic signal among the multiple signals that corresponds to the currently bent finger 21. When there is an electromyographic signal among the multiple signals that corresponds to the currently bent finger 21, the control device 10 maintains the current bending process of the finger 21.

[0089] When the received electromyographic signal corresponds to the currently bent finger 21, it indicates that the wearer still wants to maintain the bent state of the finger 21. The control device 10 then controls the currently bent finger 21 to maintain the bending process until it reaches the second angle. It can be understood that regardless of the duration of the electromyographic signal corresponding to the finger 21, the maximum bending angle of the finger 21 is always the corresponding second angle. This effectively avoids excessive bending of the finger 21 due to fluctuations in the electromyographic signal or its prolonged duration.

[0090] When the received electromyographic signal does not correspond to the currently bent finger, the control device 10 restores the finger 21 to its initial angle. When the received electromyographic signal does not correspond to the currently bent finger 21, it indicates that the electromyographic signal corresponding to the currently bent finger 21 has disappeared, and the currently bent finger 21 returns to its initial angle. If the corresponding electromyographic signal is received again, the finger 21 will bend again.

[0091] When the control device 10 receives electromyographic signals corresponding to other fingers 21, it controls the corresponding finger 21 to bend from the initial angle to the first angle, and then, according to the continuous state of the corresponding electromyographic signal, makes the corresponding finger 21 gradually bend from the first angle until it reaches the second angle.

[0092] Understandably, during the process of controlling a finger 21 to bend from the first angle to the second angle, if the control device 10 receives electromyographic signals from other fingers, it quickly switches to controlling other fingers 21 to move, while the previous finger 21 returns to its initial angle.

[0093] Please refer to the following: Figure 5 This is a schematic diagram of the structure of the control device provided in an embodiment of the present invention. The present invention also proposes a control device 10, which can be a computing device such as a desktop computer, laptop, handheld computer, or server. The control device 10 may include: a processor 1001 (e.g., CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize communication between these components. The user interface 1003 may include a display screen and an input unit, such as a keyboard; the user interface 1003 may also include standard wired interfaces and wireless interfaces. The network interface 1004 may include standard wired interfaces and wireless interfaces (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or stable non-volatile memory, such as disk storage; the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0094] Those skilled in the art will understand that Figure 5 The structure of the control device 10 shown does not constitute a limitation on the control device 10. The control device 10 may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0095] like Figure 5 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and computer-executable instructions.

[0096] exist Figure 5 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 via signals; the user interface 1003 is mainly used to connect to the client (user terminal) and communicate with the client via signals; 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 segmented control method of the bionic hand fingers described above are implemented.

[0097] 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 segmented control method for the fingers of the bionic hand described in the foregoing embodiments is implemented.

[0098] Please refer to the following: Figure 6This 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, a control device 10, and an electromyography (EMG) signal acquisition device 40. The control device 10 and the acquisition device 40 are disposed on the bionic hand body 20. The control device 10 controls the fingers of the bionic hand body 20 according to the residual limb EMG signals acquired by the acquisition device 40, so as to perform actions corresponding to the residual limb EMG signals.

[0099] 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 10 is electrically connected to the electromyographic electrodes. The bionic hand 1 is fixed to the wearer's arm 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, and send the electromyographic signals to the control device 10.

[0100] 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 10. The inertial sensor can collect inertial sensing signals generated by the wearer controlling the bionic hand 1 to move, and send the inertial sensing signals to the control device 10.

[0101] In some embodiments, the control device 10 can also communicate with an external device. The wearer can send control commands to the control device 10 via the external device. The external device can be a smartphone, tablet, laptop, desktop computer, or smartwatch, etc.

[0102] 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.

[0103] 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 segmented control method for the fingers of a bionic hand, wherein the bionic hand comprises a plurality of fingers, characterized in that, The segmented control method for the fingers of the bionic hand includes: When receiving electromyographic signals, the finger corresponding to the electromyographic signals is controlled to bend from an initial angle to a first angle. When the electromyographic signal is continuously received, the finger is controlled to gradually bend from the first angle; When the finger is bent to the second angle, control the finger to stop bending; Wherein, the second angle is greater than the first angle; Controlling the finger to gradually bend from the first angle includes: Determine whether the received electromyographic signal corresponds to the currently bent finger; If the received electromyographic signal corresponds to the currently bent finger, the finger is controlled to maintain the current bending process; Before controlling the corresponding finger to bend from an initial angle to a first angle when receiving electromyographic signals, the method further includes: The bionic hand is controlled to enter the corresponding scene mode according to the received trigger signal, and each finger has a first angle, a second angle and an initial angle corresponding to different scene modes; When receiving electromyographic signals, controlling the corresponding finger to bend from an initial angle to a first angle includes: Determine whether the received electromyographic signal matches the scene pattern; If the electromyographic signal matches the scene pattern, then the corresponding finger is controlled to bend from the initial angle to the first angle; Before determining whether the received electromyographic signal matches the scene pattern, the method further includes: Determine whether the first duration after receiving the electromyographic signal is greater than or equal to a duration threshold; If the first duration is greater than or equal to the duration threshold, then it is determined whether the received electromyographic signal matches the scene mode.

2. The segmented control method for the fingers of a bionic hand according to claim 1, characterized in that, The control of the finger to gradually bend from the first angle includes: The finger is controlled to bend at a corresponding preset bending speed during the second duration; The second duration is the duration calculated from the time the electromyographic signal starts after the finger bends to the first angle, and each finger has a preset bending speed corresponding to different scene modes.

3. The segmented control method for the fingers of a bionic hand according to claim 2, characterized in that, The speed at which the finger bends from the initial angle to the first angle is greater than the preset bending speed.

4. The segmented control method for the fingers of a bionic hand according to claim 1, characterized in that, If the received electromyographic signal does not correspond to the currently bent finger, the finger is controlled to return to the initial angle.

5. A control device, characterized in that, The control device includes: Memory is used to store executable instructions for a computer; and A processor for executing computer-executable instructions to implement the segmented control method for the fingers of the bionic hand as described in any one of claims 1 to 4.

6. A bionic hand, characterized in that, The bionic hand includes a bionic hand body, an electromyography (EMG) signal acquisition device, and a control device as described in claim 5. The control device is used to control the fingers of the bionic hand body according to the EMG signals of the residual limb acquired by the acquisition device.

Images