Gradation control method for bionic hand and its fingers, control device

Abstract

The application discloses a gradual control method for fingers of a bionic hand, and the control method comprises the following steps: when receiving an electromyographic signal, controlling a finger corresponding to the electromyographic signal to bend an initial angle; and when the electromyographic signal lasts for a preset time length, controlling the finger to bend a preset angle. The gradual control method for fingers of the bionic hand solves the problem that the fingers of the bionic hand are difficult to control the pressure sensing operation. In addition, the application further 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 bionic hand and its fingers with a gradual control method and control device. Background Technology

[0002] In existing bionic hands, each finger is controlled by an independent drive motor to flex and extend. The bending angle of the finger is determined by the electromyographic signals that control flexion and extension. When the electromyographic signals end, the finger automatically returns to the open position.

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

[0004] The main objective of this invention is to propose a gradual 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 gradual control method for the fingers of a bionic hand, applied to a bionic hand comprising a plurality of fingers, the gradual control method for the fingers of the bionic hand comprising:

[0006] Based on the received electromyographic signals, control the finger flexion to an initial angle corresponding to the electromyographic signals;

[0007] When the duration of receiving electromyographic signals reaches a certain threshold, the finger is controlled to bend at a corresponding preset angle.

[0008] In some embodiments, before controlling the finger flexion to an initial angle corresponding to the received electromyographic signal, the method further includes:

[0009] Determine whether the duration of electromyographic signal reception has reached the effective duration;

[0010] If the duration of receiving the electromyographic signal reaches the effective duration, the electromyographic signal is determined to be a valid signal, and the finger corresponding to the electromyographic signal is controlled to bend at an initial angle.

[0011] If the duration of receiving the electromyographic signal does not reach the effective duration, the electromyographic signal is determined to be invalid, and the finger is kept in its initial state.

[0012] In some embodiments, if the electromyographic signal is interrupted before the duration of the electromyographic signal reception reaches any threshold, the finger is controlled to return to its initial state.

[0013] In some embodiments, the bending speed of the finger at the initial bending angle is greater than the bending speed of the finger at the preset bending angle.

[0014] In some embodiments, if a finger bends from its initial state to its maximum bending angle, the finger is controlled to stop bending.

[0015] In some embodiments, before controlling the finger flexion to an initial angle corresponding to the received electromyographic signal, the method further includes:

[0016] The bionic hand is controlled to enter the corresponding scene mode according to the received trigger signal. Each finger has an initial angle and a preset angle corresponding to different scene modes.

[0017] In some embodiments, controlling an initial angle of finger flexion corresponding to the received electromyographic signal, based on the received electromyographic signal, includes:

[0018] Determine whether the received electromyographic signals match the scene pattern;

[0019] If the electromyographic signal matches the scene pattern, then control the finger corresponding to the electromyographic signal to bend by an initial angle.

[0020] In some embodiments, when the duration of receiving electromyographic signals reaches a certain threshold, controlling the finger to bend at a preset angle includes:

[0021] Obtain the preset angle corresponding to the currently reached threshold based on the scene mode.

[0022] Control the preset angle of finger bending.

[0023] Another aspect of the present invention provides a control device comprising:

[0024] Memory is used to store executable instructions for a computer; and

[0025] The processor is used to execute computer-executable instructions to implement the gradual control method of the bionic hand fingers as described above.

[0026] 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 acquisition device.

[0027] In the technical solution of this invention, when the bionic hand receives electromyographic signals from the residual limb, it bends from its initial state at an initial angle according to pre-adjusted settings, thereby enabling the user to complete the basic operation they wish to perform. After the basic operation is completed, the current electromyographic signal, for a preset duration, gradually controls the finger to bend at a second angle multiple times, allowing the user to gradually complete subsequent operations based on the duration of the electromyographic signal, thus enabling the user to perform more complex operations such as pressure-sensitive control. Moreover, during the process of controlling the finger, the reception status of the electromyographic signal is constantly monitored, so as to promptly return to the initial state according to the user's needs, in preparation for the next operation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the bionic hand according to an embodiment of the present invention;

[0029] Figure 2 A flowchart of a gradual control method for the fingers of a bionic hand according to an embodiment of the present invention;

[0030] Figure 3 A flowchart of a gradual control method for the fingers of a bionic hand according to another embodiment of the present invention;

[0031] Figure 4 A flowchart illustrating a gradual control method for the fingers of a bionic hand according to another embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the control device according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the bionic hand module according to an embodiment of the present invention.

[0034] 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

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] In response to the technical defects existing in the relevant technologies, such as Figure 1 As shown, this embodiment provides a bionic hand 1, which includes several fingers 21, a receiving cavity 30, and a control device 10. The bionic hand 1 is fixed to the wearer's residual limb through the receiving cavity 30, and the cavity wall of the receiving cavity 30 is in contact with the muscles of the wearer's residual limb. The bionic hand 1 has multiple electromyographic electrodes (not shown) disposed on the cavity wall of the receiving cavity 30. The electromyographic electrodes are used to collect electromyographic signals generated by the muscles. The control device 10 is electrically connected to the electromyographic electrodes and can receive the electromyographic signals collected by the electromyographic electrodes.

[0040] 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).

[0041] In this embodiment, the gradual control method for the fingers of the bionic hand specifically includes the following steps.

[0042] Step S102: Based on the received electromyographic signal, control the finger corresponding to the electromyographic signal to bend at an initial angle.

[0043] In this embodiment, the control device 10 can receive electromyographic signals collected by electromyographic electrodes, and then control the finger 21 corresponding to the currently received electromyographic signal, causing the finger 21 to bend at an initial angle from its initial state. The initial state can be understood as the state of the finger 21 in its normal state; for example, the finger 21 can be in an extended state or a slightly bent state in the initial state. Of course, the initial state is preset according to actual needs, so the initial states of different fingers 21 can be the same or different. The initial state 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.

[0044] The initial 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 (such as holding a mobile phone) simply by bending the initial angle from the initial state. The initial angle is also 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 corresponding electromyographic signals and bending data extracted from multiple training sessions; no limitation is made here.

[0045] After step S102, the control method for finger 21 varies depending on the duration of the current electromyographic signal. The gradual control method for the bionic hand fingers after step S102 also includes:

[0046] Step S103: Determine whether the reception duration of the current electromyographic signal has reached a threshold. In this embodiment, multiple thresholds are set for the reception duration of the current electromyographic signal. For example, based on the continuous reception of the electromyographic signal, the threshold can be set to 0.5 seconds, 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, or 3 seconds; or, the threshold can be set to 0.1 seconds, 0.3 seconds, 0.8 seconds, 1 second, 1.3 seconds, or 1.4 seconds. The difference between any two adjacent thresholds can be the same or different.

[0047] If the current electromyographic signal continues to be received at a threshold, the control device 10 will control the finger 21 to continue bending at a preset angle from its initial bending angle. For example:

[0048] After the control device 10 controls the finger 21 to bend at the initial angle, when the duration of receiving the current electromyographic signal lasts for 0.5 seconds (that is, reaching a threshold), the control device 10 controls the finger 21 to bend by 5° (that is, bend at the preset angle).

[0049] If the current electromyographic signal has not lasted for the preset duration, the control device 10 controls the finger 21 to maintain its current state, that is, the finger 21 remains stationary after bending at the initial angle. For example:

[0050] After the control device 10 controls the finger 21 to bend at the initial angle, when the duration of receiving the current electromyographic signal lasts for 0.3 seconds (not reaching the threshold), the control device 10 controls the finger 21 to maintain the current state.

[0051] In this embodiment, after the finger 21 is bent at a preset angle, step S103 will be executed repeatedly. That is, after the finger 21 is bent at a preset angle, it is determined again whether the reception duration of the current electromyographic signal has reached another threshold. If the reception duration of the current electromyographic signal reaches another threshold, the control device 10 will control the finger 21 to bend at the preset angle again while it is still bent at the preset angle. For example:

[0052] After the control device 10 controls the finger 21 to bend at a preset angle, when the duration of receiving the current electromyographic signal lasts for 1.5 seconds (that is, when another threshold is reached), the control device 10 controls the finger 21 to bend by another 5° (that is, bend at a preset angle).

[0053] Similarly, in this embodiment, after finger 21 bends to a preset angle again, the process of step S103 will be repeated. Of course, if finger 21 has already bent to its maximum bending angle, even if electromyographic signals are still being received, the control device 10 will still control finger 21 to stop bending. The maximum bending angle of different fingers 21 can be different or the same.

[0054] It is understandable that the preset angles corresponding to different thresholds can be the same or different. For example, when the duration of EMG signal reception reaches a certain threshold, the finger can bend by 5°, but when the duration of EMG signal reception reaches another threshold, the finger can bend by 3°. The preset angles can be preset by the wearer according to usage habits or personal preferences, or they can be generated by analyzing the corresponding EMG signals and bending data extracted from multiple training sessions. There are no restrictions on this.

[0055] In this embodiment, after the finger 21 bends to an initial angle from its initial state, if the duration of receiving the electromyographic signal reaches a threshold, the preset angle corresponding to the bending of the finger is controlled.

[0056] As long as the electromyographic signal is not interrupted, finger 21 will continue to bend as the electromyographic signal is continuously received, thereby completing 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 to the initial angle from the initial state, the operation of holding the mobile phone can be performed. Afterward, every time the duration of receiving the electromyographic signal reaches a threshold, finger 21 bends again, allowing pressure to be applied to 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.

[0057] In addition to the operational examples mentioned above, the gradual 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.

[0058] It should be noted that in this embodiment, if the electromyographic signal is interrupted before the reception duration reaches any threshold, the finger is controlled to return to its initial state. That is, for example, after receiving the electromyographic signal, the finger 21 bends to its initial angle under the control of the control device 10. If the electromyographic signal is then interrupted before the entire reception duration reaches the minimum threshold, the control device 10 controls the finger 21 to return to its initial state to correspond to the new electromyographic signal.

[0059] For example, when the duration of receiving electromyographic signals reaches a minimum threshold (e.g., 0.5 seconds), the control device 10 controls the finger 21 to bend to the corresponding preset angle. However, if the duration of receiving electromyographic signals is interrupted in the subsequent process because it does not reach other thresholds (e.g., less than 1 second), the control device 10 controls the finger 21 to return to its initial state to correspond to the new electromyographic signals.

[0060] In some embodiments, the bending speed of the finger when bending to an initial angle is greater than the bending speed when bending to a preset angle. The preset angle presets the bending speed. It is understood that the faster speed at which the finger 21 moves from the initial state to the initial angle allows for quick completion of basic operations, thereby improving the operational efficiency of the bionic hand. The relatively slower bending speed of the finger 21 when bending to the preset angle allows for fine-tuning of the execution process of subsequent operations, thereby effectively improving control efficiency.

[0061] In some embodiments, in order to filter invalid or falsely triggered electromyographic signals, such as Figure 3 As shown, the gradual control method for the bionic hand fingers before step S102 also includes:

[0062] Step S101: Determine whether the reception duration of the electromyographic signal has reached the valid duration. The control device 10 starts calculating the reception duration of the current electromyographic signal at the moment of receiving the signal. If the reception duration of the electromyographic signal reaches the valid duration, the signal is determined to be valid, and the finger corresponding to the signal is controlled to bend at an initial angle.

[0063] If the duration of receiving the electromyographic signal does not reach the effective duration, the control device 10 determines that the current electromyographic signal is invalid and keeps the finger in its initial state.

[0064] In some embodiments, such as Figure 4 As shown, the gradual control method for the bionic hand fingers before step S102 also includes:

[0065] Step S1001: Based on the received trigger signal, the bionic hand enters the corresponding scene mode.

[0066] 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 corresponding finger 1 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, and a multi-finger scene means that the control device 10 can control multiple fingers 21 to move at a time. Single-finger scenes can include playing the piano, typing, etc., and multi-finger scenes can include playing the piano, writing, grasping, etc. Each finger has an initial angle, a preset angle, and an initial state corresponding to different scene modes. The preset angles corresponding to different thresholds can be the same or different depending on actual needs.

[0067] 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.

[0068] 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.

[0069] In this embodiment, each finger 21 corresponds to an initial state in each scene mode. Within the same scene mode, the initial states corresponding to different fingers 21 can be the same or different. Within different scene modes, the initial states corresponding to the same finger 21 can be the same or different.

[0070] When the bionic hand enters different scene modes, the bending range of each finger 21 is limited to the maximum bending angle corresponding to the current scene mode. Within the same scene mode, the initial state, initial angle, and maximum bending angle of different fingers 21 can be the same or different. Conversely, the initial state, initial angle, and maximum bending angle of the same finger 21 can be the same or different across different scene modes. In other words, the initial state, initial angle, and maximum bending angle can be preset by the wearer based on usage habits or personal preferences, or they can be generated by analyzing electromyographic signals extracted during control training and the bending data of the fingers 21; no limitations are imposed here. It is important to understand that the preset angle only corresponds to a certain threshold of the electromyographic signal reception duration, and the threshold distribution can be the same or different across different scene modes.

[0071] 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.

[0072] 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.

[0073] In some embodiments, the process of step S102 includes:

[0074] Determine whether the received electromyographic signals match the scene pattern.

[0075] If the electromyographic signal matches the scene pattern, then the corresponding finger is controlled to bend at an initial angle.

[0076] If the electromyographic signal does not match the scene mode, the corresponding finger is controlled to maintain its initial state.

[0077] 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.

[0078] Understandably, when the electromyographic signal matches the scene mode, the control device 10 acquires the finger 21 corresponding to the electromyographic signal based on its type and controls that finger 21 to bend from its initial state at an initial angle. For example, if the current scene mode of the bionic hand 1 is adjusting the phone volume, in this scene mode, the initial angle of the index finger is 20°, and the corresponding preset angle for different thresholds is 5°; the initial angle of the thumb is 10°, and the corresponding preset angle for different thresholds is 3°. When receiving the electromyographic signal, the index finger and thumb simultaneously bend their initial angles to complete the basic operation of holding the phone. Subsequently, whenever the duration of the electromyographic signal reception reaches a threshold, the index finger and thumb bend in stages, thereby allowing for pressure testing of the phone's buttons to complete subsequent operations such as adjusting the volume.

[0079] Please refer to the following: Figure 5This 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.

[0080] 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.

[0081] 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.

[0082] 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 end) 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 above-mentioned gradual control method of the bionic hand fingers are implemented.

[0083] 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 gradual control method for the fingers of the bionic hand described in the foregoing embodiments is implemented.

[0084] Please refer to the following: Figure 6 This is a schematic diagram of the module of the bionic hand provided in an embodiment of the present invention. The module of the bionic hand includes a bionic hand body 20 and a control device 10, with the control device 10 disposed on the bionic hand body 20.

[0085] In this embodiment, the bionic hand 1 includes several fingers, and the main body 20 of the bionic hand is provided with a receiving cavity. Multiple electromyographic electrodes are disposed on the cavity wall of the receiving cavity, and 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 of the receiving cavity is in close contact with the wearer's arm muscles. The electromyographic electrodes can collect electromyographic signals in the arm and send the electromyographic signals to the control device 10.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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 gradual control method for the fingers of a bionic hand, applied to a bionic hand, the bionic hand comprising a plurality of fingers, characterized in that, The gradual control method for the fingers of the bionic hand includes: Based on the received electromyographic signals, control the finger corresponding to the electromyographic signals to bend at an initial angle; When the duration of receiving the electromyographic signal reaches a certain threshold, the finger is controlled to bend further by a preset angle based on the initial angle. If the electromyographic signal is interrupted before the duration of the electromyographic signal reception reaches any of the threshold values, the finger is controlled to return to its initial state.

2. The gradual control method for the fingers of a bionic hand according to claim 1, characterized in that, Before controlling the finger to bend at an initial angle corresponding to the received electromyographic signal, the method further includes: Determine whether the duration of receiving the electromyographic signal has reached the valid duration; If the duration of receiving the electromyographic signal reaches the effective duration, the electromyographic signal is determined to be a valid signal, and the finger corresponding to the electromyographic signal is controlled to bend at an initial angle. If the duration of receiving the electromyographic signal does not reach the effective duration, the electromyographic signal is determined to be invalid, and the finger is kept in its initial state.

3. The gradual control method for the fingers of a bionic hand according to claim 1, characterized in that, The bending speed of the finger at the initial angle is greater than the bending speed of the finger at the preset angle.

4. The gradual control method for the fingers of a bionic hand according to claim 1, characterized in that, If the finger bends from its initial state to its maximum bending angle, then the finger is controlled to stop bending.

5. The gradual control method for the fingers of a bionic hand according to claim 1, characterized in that, Before controlling the finger to bend at an initial angle corresponding to the received electromyographic signal, 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 the initial angle and the preset angle corresponding to different scene modes.

6. The gradual control method for the fingers of a bionic hand according to claim 5, characterized in that, The step of controlling the finger to bend at an initial angle corresponding to the received electromyographic signal includes: Determine whether the received electromyographic signal matches the scene pattern; If the electromyographic signal matches the scene pattern, then the finger corresponding to the electromyographic signal is controlled to bend at an initial angle.

7. The gradual control method for the fingers of a bionic hand according to claim 6, characterized in that, The step of controlling the preset angle corresponding to the finger bending when the duration of receiving the electromyographic signal reaches a certain threshold includes: The preset angle corresponding to the currently reached threshold is obtained according to the scene mode; Control the finger to bend at the preset angle.

8. 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 gradual control method for the fingers of the bionic hand as described in any one of claims 1 to 7.

9. 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 8. 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.

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