A visual augmented force-position fusion measurement method and device based on a pulley block

Abstract

A kind of visual enhancement force-position fusion measurement method and device based on pulley block, to solve the technical problems of existing technology, in the scheme of realizing dexterous operation and control of target in existing dexterous hand, it needs excessively high cost and complexity, the technical scheme provided by the present application is as follows: force-position fusion measurement mechanism based on pulley block structure, applied to dexterous hand, comprising: fixed base plate and fixed plate connected perpendicularly to each other;Along the axis direction of the fixed base plate, winding reel and fixed pulley are sequentially arranged;The end of the fixed plate away from the fixed base plate is provided with a fixed pulley;Rope is sequentially connected to the movable pulley through winding reel, fixed pulley on the fixed base plate and fixed pulley on the fixed plate;The movable pulley moves along the axis direction of the fixed base plate;The movable pulley and the fixed pulley on the fixed base plate are connected by tension spring.It is suitable for application in dexterous operation and control of target in dexterous hand.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical system design of robots, in particular to a dexterous hand design capable of efficiently measuring force and position. BACKGROUND

[0002] With the continuous development of robot technology, higher requirements are put forward for the ability of complex interaction between robots and the environment. Dexterous hands will gradually replace traditional end gripping tools due to their super high degree of freedom and dexterity, and thus play a crucial role in fields such as aerospace, manufacturing, warehousing, intelligent medical treatment, and robot service industry. The perception of force and position information is essential for dexterous hands to achieve dexterous operation and control of targets. Traditional solutions often involve installing angle encoders and torque sensors at each joint of the dexterous hand. However, dexterous hands usually have a super high degree of freedom, which requires the purchase of an equal number of position sensors and force sensors, resulting in high costs. On the other hand, the installation and wiring of these sensors require additional mechanism design, increased power consumption, and constraints on the size of the mechanism, as well as increased complexity of the entire control system. Therefore, there is an urgent need for a new design scheme and device for measuring the force and position of dexterous hands. Some researchers have proposed mechanisms for force and position fusion measurement, but the measurement accuracy is low and the mechanism size is large. SUMMARY

[0003] To solve the technical problems of high cost and complexity in the existing dexterous hand scheme for achieving dexterous operation and control of targets, the present application provides a technical solution:

[0004] A vision-enhanced force-position fusion measurement mechanism based on a pulley block, applied to a dexterous hand, comprising:

[0005] a fixed base plate and a fixed plate connected perpendicularly to each other;

[0006] a winding reel and a fixed pulley are sequentially arranged along the axis direction of the fixed base plate;

[0007] the fixed plate is provided with a fixed pulley at the end away from the fixed base plate;

[0008] the rope sequentially passes through the winding reel, the fixed pulley on the fixed base plate, and the fixed pulley on the fixed plate, and is connected to a movable pulley;

[0009] the movable pulley moves along the axis direction of the fixed base plate;

[0010] the movable pulley and the fixed pulley on the fixed base plate are connected by a tension spring.

[0011] Further, a preferred embodiment is provided, wherein the movable pulley and the tension spring are respectively provided with a movable pulley mark point and a spring mark point for capturing position changes by a camera.

[0012] Further, a preferred embodiment is provided, further comprising a steering engine for driving the winding reel.

[0013] Further, a preferred embodiment is provided, wherein the fixed base plate is provided with two fixed pulleys, which are respectively arranged near one end of the winding reel and near one end of the fixed base plate.

[0014] Further, a preferred embodiment is provided, further comprising a measurement unit for collecting actions of the dexterous hand through machine vision.

[0015] Based on the same inventive concept, the application further provides a visual enhanced force-position fusion measurement method based on a pulley block, which is realized based on the mechanism and comprises the following steps:

[0016] a step of collecting initial mark point positions of the movable pulley and the tension spring;

[0017] a step of collecting changed mark point positions of the movable pulley and the tension spring after the joint of the dexterous hand is rotated;

[0018] a step of obtaining a joint rotation angle and a joint rotation torque according to the positions of the movable pulley and the tension spring.

[0019] Based on the same inventive concept, the application further provides a visual enhanced force-position fusion measurement device based on a pulley block, which is realized based on the mechanism and comprises the following modules:

[0020] a module of collecting initial mark point positions of the movable pulley and the tension spring;

[0021] a module of collecting changed mark point positions of the movable pulley and the tension spring after the joint of the dexterous hand is rotated;

[0022] a module of obtaining a joint rotation angle and a joint rotation torque according to the positions of the movable pulley and the tension spring.

[0023] Based on the same inventive concept, the application further provides a computer storage medium for storing a computer program, wherein the computer executes the method when the computer program is read by the computer.

[0024] Based on the same inventive concept, the application further provides a computer comprising a processor and a storage medium, wherein the computer executes the method when the processor reads the computer program stored in the storage medium.

[0025] Based on the same inventive concept, the application further provides a computer program product as a computer program, which realizes the method when the computer program is read.

[0026] Compared with the prior art, the technical solution provided by the application has the advantages that:

[0027] The visual enhanced force-position fusion measurement mechanism based on the pulley block ensures that the movement positions of the movable pulley and the spring can be accurately captured during the measurement process by installing marker points at the movable pulley end and the spring end. Compared with other measurement methods based on force sensors, this method reduces mechanical complexity and avoids errors caused by changes in sensor installation position.

[0028] The visual enhanced force-position fusion measurement mechanism based on the pulley block improves the flexibility and accuracy of measurement by observing the position changes of the marker points in real time through the camera. The visual measurement technology can be performed without contacting the measured object, reducing interference and wear caused by contact, which is particularly important during long-term use.

[0029] The visual enhanced force-position fusion measurement mechanism based on the pulley block accurately obtains the movement distance of the movable pulley and the spring by calculating the displacement of the marker points. Compared with directly measuring the overall movement distance, this segmented measurement method can capture movement details more finely, improving measurement accuracy.

[0030] The visual enhanced force-position fusion measurement mechanism based on the pulley block calculates the angle of the joint by combining the movement distance of the traction rope and the radius of the torque transmission wheel. Through this calculation method, complex mechanical design and precision problems caused by directly measuring the joint angle can be avoided, and it can be flexibly applied to dexterous hands of different sizes and shapes.

[0031] The visual enhanced force-position fusion measurement mechanism based on the pulley block calculates the torque and angle information of the joint, so that the system can real-time feedback and control the movement of the dexterous hand. Compared with other traditional measurement methods, this method not only improves the measurement accuracy, but also greatly reduces the complexity and cost of the system, and is suitable for various practical application scenarios.

[0032] The application provides a visual enhanced force-position fusion measurement mechanism based on a pulley block, compared with a traditional measurement method based on a force sensor and an angle sensor, high-precision measurement of force and position is realized through visual measurement technology in the application.

[0033] The visual enhanced force-position fusion measurement mechanism based on the pulley block is suitable for being applied to dexterous operation and control of a dexterous hand on a target. BRIEF DESCRIPTION OF DRAWINGS

[0034] Fig. 1 It is a whole schematic diagram of the dexterous hand.

[0035] Fig. 2 It is a single measurement unit of the dexterous hand, that is, a visual enhanced force-position fusion measurement mechanism based on a pulley block.

[0036] Fig. 3 It is a schematic diagram of arrangement of a camera and a measurement unit.

[0037] In the figure, 1 represents the dexterous hand, 2 represents a measurement unit, 3 represents a reel, 4 represents a rope, 5 represents a fixed pulley, 6 represents a movable pulley, 7 represents a spring, 8 represents a movable pulley marker point, 9 represents a spring marker point, 10 represents a rudder, 11 represents a light source, 12 represents a camera, and 13 represents a measurement module. DETAILED DESCRIPTION

[0038] In order to make the advantages and beneficial effects of the technical scheme provided by the application more clear, the technical scheme provided by the application is further described in detail in combination with the drawings, and specifically:

[0039] Embodiment one, the embodiment provides a visual enhanced force-position fusion measurement mechanism based on a pulley block, which is applied to a dexterous hand 1 and comprises:

[0040] A fixed base plate and a fixed plate connected perpendicularly to each other;

[0041] A reel 3 and a fixed pulley 5 are sequentially arranged along an axis direction of the fixed base plate;

[0042] An end of the fixed plate away from the fixed base plate is provided with the fixed pulley 5;

[0043] The rope 4 is connected to the movable pulley 6 through the winding reel 3, the fixed pulley 5 on the fixed base plate and the fixed pulley 5 on the fixed plate in turn;

[0044] The movable pulley 6 moves along the axis direction of the fixed base plate;

[0045] The movable pulley 6 and the fixed pulley 5 on the fixed base plate are connected by the tension spring 7.

[0046] Specifically:

[0047] Dexterous hand 1: overall skeleton, providing support and connection points.

[0048] Measurement unit 2 array: multiple measurement units 2 combined to measure force and position.

[0049] Winding reel 3: winding rope 4 for adjusting the length of rope 4.

[0050] Rope 4: connecting each part to transfer force and displacement.

[0051] Fixed pulley 5: fixed position for guiding rope 4.

[0052] Movable pulley 6: movable position for changing the path of rope 4, measuring force and displacement.

[0053] Spring 7: provides elastic force and measures elastic deformation.

[0054] Movable pulley marker point 8: marks the position of movable pulley 6 for visual measurement.

[0055] Spring marker point 9: marks the position of spring 7 for visual measurement.

[0056] Servo 10: provides driving force and angle control.

[0057] Light source 11: provides illumination to ensure the accuracy of visual measurement.

[0058] Camera 12: visual measurement device for capturing the positions of each marker point and calculating force and displacement.

[0059] Single measurement module 13: contains one movable pulley 6, one fixed pulley 5, one spring 7 and related marker points, as a basic measurement unit 2.

[0060] Component connection relationship:

[0061] Servo 10 connects rope 4 through winding reel 3, and rope 4 further connects movable pulley 6 and fixed pulley 5.

[0062] Movable pulley 6 and fixed pulley 5 are connected by tension spring 7, and movable pulley 6 and spring 7 have marker points (movable pulley marker point 8 and spring marker point 9) respectively for measuring displacement.

[0063] The light source 11 illuminates the measurement area, and the camera 12 captures the position changes of the movable pulley marker point 8 and the spring marker point 9, and calculates the movement distance of the rope 4 and the extension amount of the spring 7.

[0064] The measurement units 2 are arranged at each joint of the dexterous hand 1 to ensure that the field of view of the vision unit contains all the transmission mechanisms.

[0065] Operating principle

[0066] The rope 4 moves through the driving of the reel 3 and the steering wheel 10, which drives the deformation of the movable pulley 6 and the spring 7.

[0067] The camera 12 measures the position changes of the movable pulley marker point 8 and the spring marker point 9, and calculates the displacement of the rope 4 and the extension amount of the spring 7, thereby obtaining the torque and angle information of each joint.

[0068] Embodiment II, this embodiment is a further limitation of the vision-enhanced force-position fusion measurement mechanism based on the pulley block provided in embodiment I, wherein the movable pulley 6 and the tension spring 7 are respectively provided with movable pulley marker points 8 and spring marker points 9 for being captured by the camera 12 to change positions.

[0069] Embodiment III, this embodiment is a further limitation of the vision-enhanced force-position fusion measurement mechanism based on the pulley block provided in embodiment I, further comprising a steering wheel 10 for driving the reel 3.

[0070] Embodiment IV, this embodiment is a further limitation of the vision-enhanced force-position fusion measurement mechanism based on the pulley block provided in embodiment I, wherein the fixed pulley 5 on the fixed base plate has two, which are respectively arranged near one end of the reel 3 and near one end of the fixed base plate.

[0071] Embodiment V, this embodiment is a further limitation of the vision-enhanced force-position fusion measurement mechanism based on the pulley block provided in embodiment I, further comprising a measurement unit 2 for collecting the motion of the dexterous hand 1 through machine vision.

[0072] Embodiment VI, this embodiment provides a vision-enhanced force-position fusion measurement method based on the pulley block, which is realized based on the mechanism provided in embodiment I, comprising:

[0073] A step of collecting the initial marker point positions of the movable pulley 6 and the tension spring 7;

[0074] A step of collecting the changed marker point positions of the movable pulley 6 and the spring 7 after the joint of the dexterous hand 1 rotates;

[0075] A step of obtaining the joint rotation angle and the joint rotation torque according to the positions of the movable pulley 6 and the tension spring 7.

[0076] Specifically:

[0077] Step one: Install marker points

[0078] Install two marker points at the end of the moving pulley 6 and the end of the spring 7 respectively. Measure the positions of the marker points at the initial moment through the camera 12.

[0079] Marker point at the end of the moving pulley 6: used to measure the movement distance of the moving pulley 6.

[0080] Marker point at the end of the spring 7: used to measure the deformation amount of the spring 7.

[0081] Step two: Measure marker point positions

[0082] Observe the positions of the marker points at the end of the moving pulley 6 and the end of the spring 7 at different time points through the camera 12.

[0083] Initial moment (t0): the camera 12 measures the positions of the marker points at the end of the moving pulley 6 and the end of the spring 7 relative to the world coordinate system, denoted as p10 and p20.

[0084] Moment after joint rotation angle θ (t1): the camera 12 measures the positions of the marker points at the end of the moving pulley 6 and the end of the spring 7 relative to the world coordinate system, denoted as p11 and p21.

[0085] Step three: Calculate marker point displacement

[0086] Calculate the displacement of the marker points to obtain the movement distance of the traction rope.

[0087] Marker point displacement at the end of the moving pulley 6 (Δl1): the calculation formula is Δl1 = p11 - p10.

[0088] Marker point displacement at the end of the spring 7 (Δl2): the calculation formula is Δl2 = p21 - p20.

[0089] Step four: Calculate joint angle

[0090] Combine the movement distance of the traction rope and the radius r of the torque transmission wheel to calculate the joint angle θ.

[0091] Movement distance of the traction rope (Δl): calculated from the displacement of the marker points.

[0092] Joint angle calculation formula: θ = Δl / r, where r is the radius of the torque transmission wheel.

[0093] Step five: Output joint torque and angle information

[0094] Finally, the torque and angle information of all joints of the dexterous hand 1 are calculated.

[0095] Joint torque (τ): calculated by τ = F * r, where F is the tension force on the traction cable.

[0096] Joint angle (θ): the result of the previous step.

[0097] Embodiment seven, the embodiment provides a visual enhanced force-position fusion measurement device based on a pulley block, which is realized based on the mechanism provided in embodiment one, and comprises:

[0098] a module for collecting the initial marker point positions of the movable pulley 6 and the tension spring 7;

[0099] a module for collecting the changed marker point positions of the movable pulley 6 and the spring 7 after the joint rotation of the dexterous hand 1;

[0100] a module for obtaining the joint rotation angle and the joint rotation torque according to the positions of the movable pulley 6 and the tension spring 7.

[0101] Embodiment eight, the embodiment provides a computer storage medium for storing a computer program, when the computer program is read by a computer, the computer executes the method provided in embodiment six.

[0102] Embodiment nine, the embodiment provides a computer comprising a processor and a storage medium, when the processor reads the computer program stored in the storage medium, the computer executes the method provided in embodiment six.

[0103] Embodiment ten, the embodiment provides a computer program product as a computer program, when the computer program is read, the method provided in embodiment six is realized.

[0104] Embodiment eleven, in combination Figs. 1-3 The embodiment is described in detail by specific examples, and the technical solutions provided above are described in further detail, specifically:

[0105] The main contribution of the embodiment is to provide a high-precision compact force and position fusion measurement dexterous hand 1 overall design scheme and structural device.

[0106] As Figs. 1-3 shown:

[0107] A new design scheme is proposed for tendon-driven dexterous hand 1 system. First, a dexterous hand 1 mechanism with 13 degrees of freedom is designed, each joint is stretched by tendon, a pulley transmission mechanism containing a tension spring 7 is connected in series between the tendon and the motor, then the deformation of the spring 7 is measured by vision to calculate the tension of the rope, and then the corresponding joint torque is obtained. At the same time, the vision can measure the displacement of the top of the spring 7 (the end connected with the tendon) relative to the initial moment, and the joint rotation angle can be obtained through conversion; through special arrangement of the wiring and pulley group of all tendons, the visual field range of the vision unit can finally contain all the transmission mechanisms of the dexterous hand 1 at the same time, so that the torque and position information of all joints can be measured at the same time. This new dexterous hand 1 design scheme and new design method can obtain the torque and angle information of all joints of the dexterous hand 1 by only using a low-cost monocular camera 12, thereby saving the angle sensor, torque sensor and other devices on the 13 finger joints, saving the cost and reducing the size of the mechanism.

[0108] The measuring device proposed in the embodiment is composed of a motor, a movable pulley 6, a fixed pulley 5, a tension spring 7, a rope 4 connecting shaft and a vision camera 12. The motor equipped with a speed reducer transmits motion to the transmission rope through the fixed pulley 5, and then drives the movable pulley 6 to move. The movable pulley 6 moves through the transmission pulley, drives the other transmission rope to move and the spring 7 to stretch and contract. The end mark point of the spring 7 can measure the movement distance of the end of the spring 7, and the end mark point of the movable pulley 6 can measure the movement distance of the movable pulley 6. The displacement of the mark point is measured, and the movement distance of the traction rope is calculated.

[0109] The steps of measuring the movement distance of the traction rope are as follows:

[0110] Step one: fix two mark points at the end of the movable pulley 6 and the end of the spring 7 respectively, and observe the movement distance of the two mark points by vision (such as camera 12). The movement distance of the mark point at the end of the movable pulley 6 is Δl1, and the movement distance of the mark point at the end of the spring 7 is Δl2.

[0111] Step two: let the movement distance of the traction rope be Δl, and get the relative movement distance of the mark points inside the mechanism Δl1-Δl and Δl2-Δl. Due to the movement characteristics of the movable pulley 6, the movement relationship between them is obtained:

[0112] 2(Δl1-Δl)=Δl2-Δl,

[0113] After arrangement, we get:

[0114] Δl=2Δl1-Δl2,

[0115] At the same time, the elongation of the spring 7 is obtained:

[0116] Δx=Δl2-Δl=2(Δl2-Δl1),

[0117] The steps of measuring the joint torque (equivalent to providing a joint torque sensor function) are as follows:

[0118] Step 1: A tension spring 7 is installed in the pulley set transmission mechanism, and the elongation Δx of the tension spring 7 is observed through vision (such as a camera 12) combined with its transmission relationship;

[0119] Step 2: The stiffness k of the tension spring 7 is a known quantity, since the tension spring 7 is connected to the traction rope, and the forces on both sides of the pulley during pulley set transmission are the same, so the force F k experienced by the tension spring 7 is equal to the tension F l experienced by the traction rope, and the calculation formula is as follows:

[0120] F l = F k · Δx,

[0121] Step 3: When the traction rope experiences a tension F l , it will drive the torque transmission wheel to rotate, and since the radius of the torque transmission wheel is known as r, the calculation formula for the joint torque τ driven by the rope 4 is:

[0122] τ = F l · r,

[0123] The steps of measuring the joint angle (equivalent to providing a joint angle encoder function) are as follows:

[0124] Step 1: At the initial time t0, the position p 10 of the dynamic pulley 6 end marker point relative to the world coordinate system and the position p 20 of the spring 7 end marker point relative to the world coordinate system can be measured by a vision device (such as a camera 12);

[0125] Step 2: After the joint rotates an angle θ, at this time t1, the position p 11 of the dynamic pulley 6 end marker point relative to the world coordinate system and the position p 21 of the spring 7 end marker point relative to the world coordinate system can be measured by a vision device (such as a camera 12);

[0126] Step 3: The movement distances of the two marker points during t0-t1 can be obtained as follows:

[0127] Δl1 = p 11 -p 10

[0128] Δl2 = p 21 -p 20 ,

[0129] The movement distance of the traction rope Δl can be obtained by the traction rope calculation formula. In the condition of neglecting the strain of the rope 4 itself, the relationship between the joint angle θ and Δl is:

[0130] Δl = θ · r,

[0131] wherein r is the radius of the torque transmission wheel. The calculation formula of the joint angle can be obtained by transformation as:

[0132]

[0133] The steps of measuring the rotation angle of the motor (equivalent to providing the function of the encoder of the steering gear 10) are as follows:

[0134] Step one: the end of the traction rope connected with the spring 7 and the winding disc 3 is recorded as the first end (10) of the spring 7. At the initial time t0, the position p of the mark point at the end of the movable pulley 6 relative to the world coordinate system can be measured by the visual device (such as the camera 12) 10 ;

[0135] Step two: after the joint rotates by an angle θ, at this time, at the time t1, the position p of the mark point at the end of the movable pulley 6 relative to the world coordinate system can be measured by the visual device (such as the camera 12) 11 ;

[0136] Step three: since the winding disc 3 and the first end of the spring 7 are connected by the rope 4, in the condition of neglecting the strain of the rope 4 itself, the movement distance of the first end of the spring 7 is the angular displacement of the rotation of the steering gear 10. The movement distance of the mark point at the end of the movable pulley 6 during t0-t1 is Δl1 = p 11 -p 10 , and the movement distance of the traction rope connected with the winding disc 3 is the same as the movement distance of the mark point at the end of the movable pulley 6. Since the radius of the winding disc 3 is R, the rotation angle φ of the motor can be derived as:

[0137]

[0138] The embodiment converts the axial displacement of the spring 7 into lateral displacement in the field of view of the camera 12 through a unique pulley set joint transmission and tendon arrangement design. The axial displacement of the spring 7 usually requires the use of a binocular camera 12 for depth information extraction or a monocular camera 12 for direct detection of the axial distance (represented as a change in pixel size). The binocular camera 12 is limited in size and lens spacing in a mechanism with strict size limitations (such as a robot hand, etc.), while the monocular camera 12 detects the axial distance, although it can obtain the change in the deformation amount of the two ends of the spring 7, the pixel coordinate change caused by the axial distance in the field of view of the camera 12 is much smaller than the actual axial distance; More importantly, if the monocular camera 12 directly identifies the axial displacement of the two end markers of the spring 7, the two end markers often cannot be in the same plane (in the same plane, the rear marker will be blocked), so it will be difficult for the monocular camera 12 to obtain the actual deformation amount of the spring 7. Therefore, the axial displacement is converted into lateral displacement by the pulley set, which solves the above problems, so that the measurement unit 2 (such as the camera 12) can simultaneously identify the deformation amount of the entire stretched spring 7, so that the torque and angle of each joint can be obtained by calculation. This scheme can replace many groups of force (or torque) sensors and angle sensors to observe force and position information using only one monocular camera 12. Therefore, it can solve the problems of high cost, complex circuit connection, increased power consumption, and increased control complexity of the measurement unit 2 in the traditional scheme. On the other hand, compared with the force and position measurement schemes in the prior art, the embodiment improves the measurement accuracy, reduces the size of the mechanism, and only uses a single camera 12 to achieve all sensing functions.

[0139] The above further describes the technical solutions provided by the present application in detail through several specific embodiments, in order to highlight the advantages and benefits of the technical solutions provided by the present application. However, the above several specific embodiments are not used as a limitation on the present application, and any reasonable modifications and improvements, combinations and equivalent replacements, etc. of the present application based on the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A visually enhanced force-position fusion measurement mechanism based on pulley systems, applied to dexterous hands, characterized in that, include: A fixed base plate and a fixed plate that are perpendicularly connected to each other; A winding disc and a fixed pulley are sequentially arranged along the axial direction of the fixed base plate; A fixed pulley is provided at the end of the fixing plate away from the fixing base plate; The rope passes sequentially through the winding reel, the fixed pulley on the fixed base plate, and the fixed pulley on the fixed plate, and is connected to the movable pulley; The movable pulley moves along the axial direction of the fixed base plate; The movable pulley and the fixed pulley on the fixed base plate are connected by a tension spring; the movable pulley and the tension spring are respectively provided with movable pulley marking points and spring marking points, which are used to capture position changes by the camera.

2. The visually enhanced force-position fusion measurement mechanism based on a pulley system according to claim 1, characterized in that, It also includes a servo motor for driving the winding reel.

3. The visually enhanced force-position fusion measurement mechanism based on a pulley system according to claim 1, characterized in that, There are two fixed pulleys on the fixed base plate, which are respectively located at one end near the winding reel and at the other end near the fixed plate.

4. The visually enhanced force-position fusion measurement mechanism based on a pulley system according to claim 1, characterized in that, It also includes a measurement unit that uses machine vision to capture the movements of the dexterous hand.

5. A visually enhanced force-position fusion measurement method based on pulley systems, characterized in that, Based on the mechanism described in claim 1, it includes: The steps for acquiring the initial marker positions of the movable pulley and tension spring; The steps for collecting the changes in the position of the marker points of the movable pulley and spring after the dexterous hand joints are rotated; The steps for obtaining the joint rotation angle and joint rotation torque based on the positions of the movable pulley and tension spring are as follows.

6. A visually enhanced force-position fusion measurement device based on pulley systems, characterized in that, Based on the mechanism described in claim 1, it includes: A module for acquiring the initial marker positions of the movable pulley and tension spring; A module that tracks the changes in the position of marker points of the movable pulley and spring after the dexterous hand joints rotate; The module obtains the joint rotation angle and joint rotation torque based on the positions of the movable pulley and tension spring.

7. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 5.

8. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 5.

9. A computer program product, as a computer program, is characterized by: When the computer program is read, the method of claim 5 is implemented.

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