Dexterous hand control system and method, robot and medium

Abstract

The invention provides a dexterous hand control system and method, a robot and a medium, and relates to the technical field of dexterous hand control, the system comprises a first control module and a second control module, the first control module comprises a feedback unit, and the second control module comprises a main control unit and a plurality of sensors; the main control unit and the plurality of sensors are arranged on the dexterous hand; the main control unit is electrically connected with the feedback unit and the plurality of sensors respectively; each sensor is used for acquiring at least one piece of tactile feedback data and sending the at least one piece of tactile feedback data to the main control unit; the main control unit is used for sending a control signal to the feedback unit according to the multiple pieces of tactile feedback data; and the feedback unit is used for determining target feedback intensity according to the control signal and performing operation feedback according to the target feedback intensity. The interaction and the real-time performance in the control process of the dexterous hand are enhanced, and the control precision of the dexterous hand is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hand control, and in particular to a dexterous hand control system, method, robot and medium. Background Art

[0002] Dexterous hand control technology has gradually become one of the core technologies in many fields such as automated industrial manufacturing, medical surgery and furniture services. Traditional dexterous hand control systems usually rely on external devices to capture the user's hand movements. When users operate dexterous hands to perceive or grasp different objects, they are prone to operational errors or inaccurate operations. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a dexterous hand control system, method, robot and medium. The present invention provides the following technical solutions:

[0004] In the first aspect, the present invention provides a dexterous hand control system, the system comprising: a first control module and a second control module, the first control module comprising a feedback unit, the second control module comprising a main control unit and multiple sensors; the main control unit and the multiple sensors are both arranged on the dexterous hand; the main control unit is electrically connected to the feedback unit and the multiple sensors, respectively; each of the sensors is used to respectively obtain at least one tactile feedback data and send at least one tactile feedback data to the main control unit; the main control unit is used to send a control signal to the feedback unit according to the multiple tactile feedback data; the feedback unit is used to determine the target feedback intensity according to the control signal, and perform operation feedback with the target feedback intensity.

[0005] In one embodiment, the multiple tactile feedback data include: torque data and pressure data, and the multiple sensors include: torque sensors and tactile sensors; the torque sensors are used to obtain the torque data of each dexterous finger joint; the tactile sensors are used to obtain the pressure data of each dexterous finger joint; the main control unit is also used to obtain each torque data and each pressure data, and determine the current pressure of the dexterous hand according to each torque data and each pressure data; and send a control signal to the feedback unit according to the current pressure.

[0006] In one embodiment, the main control unit is further used to determine whether the current grasping of the dexterous hand is stable based on each of the torque data, and if not, to send a preset signal to the feedback unit; the feedback unit is also used to provide continuous feedback with a preset feedback intensity when receiving the preset signal.

[0007] In one embodiment, the main control unit is also used to determine whether each of the torque data belongs to the corresponding preset torque threshold range; if they all do, it is determined that the current grasping of the dexterous hand is stable; if any of the torque data does not belong to the corresponding preset torque threshold range, it is determined that the current grasping of the dexterous hand is unstable.

[0008] In one embodiment, the second control module also includes multiple dexterous hand motors, each of which is respectively arranged on a dexterous finger joint, and each of the dexterous hand motors is used to control the movement of the corresponding dexterous finger joint; the first control module also includes: a data glove, multiple inertial measurement units and a computing unit; the data glove is used to collect user hand movements; the multiple inertial measurement units are respectively arranged on the data glove, and are used to obtain the rotation angle of each glove finger joint, and send each rotation angle to the computing unit; the computing unit is used to send a corresponding drive signal to each of the dexterous hand motors according to the corresponding rotation angle; each of the dexterous hand motors is used to control the movement of the corresponding dexterous finger joint according to the drive signal.

[0009] In one embodiment, the calculation unit is further used to determine the control amount of each of the dexterous hand motors according to the corresponding rotation angle, and send a corresponding driving signal to each of the dexterous hand motors according to the corresponding control amount, and the control amount is determined according to the following formula:

[0010]

[0011] Among them, Result represents the control amount, angle_err represents the rotation angle, max_m represents the maximum control amount of the dexterous hand motor, min_m represents the minimum control amount of the dexterous hand motor, max_a represents the maximum relative motion angle of the dexterous finger joint, and min_a represents the minimum relative motion angle of the dexterous finger joint.

[0012] In one embodiment, the multiple sensors also include a magnetic encoding sensor, which is electrically connected to the main control unit; the magnetic encoding sensor is used to obtain the current posture of the dexterous hand and send the current posture information to the main control unit; the main control unit is also used to adjust the grasping posture and position of the dexterous hand according to the current posture information.

[0013] In a second aspect, the present invention provides a dexterous hand control method, which is applied to the dexterous hand control system described in the first aspect, and the method includes: each sensor acquires at least one tactile feedback data, and sends at least one tactile feedback data to a main control unit; the main control unit sends a control signal to a feedback unit based on at least one tactile feedback data; the feedback unit determines a target feedback intensity based on the control signal, and performs operation feedback with the target feedback intensity.

[0014] In a third aspect, the present invention provides a robot comprising a dexterous hand and the dexterous hand control system described in the first aspect.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to perform the dexterous hand control method described in the second aspect.

[0016] The dexterous hand control system, method, robot and medium provided by the present invention, the system comprises: a first control module and a second control module, the first control module comprises a feedback unit, the second control module comprises a main control unit and a plurality of sensors; the main control unit and the plurality of sensors are both arranged on the dexterous hand; the main control unit is electrically connected to the feedback unit and the plurality of sensors respectively; each of the sensors is used to obtain at least one tactile feedback data respectively, and send at least one tactile feedback data to the main control unit; the main control unit is used to send a control signal to the feedback unit according to the plurality of tactile feedback data; the feedback unit is used to determine the target feedback intensity according to the control signal, and perform operation feedback with the target feedback intensity. The present invention captures finger movements through multiple sensors, and feeds back the current force tactile information to the user in real time through the feedback unit, thereby enhancing the interactivity and real-time performance in the dexterous hand control process and improving the control accuracy of the dexterous hand.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0019] Figure 1 A schematic diagram of the structure of a dexterous hand control system provided by an embodiment of the present invention is shown;

[0020] Figure 2Another schematic diagram of the structure of the dexterous hand control system provided by an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of the structure of a data glove and a plurality of inertial measurement units provided by an embodiment of the present invention is shown;

[0022] Figure 4 Another structural schematic diagram of a data glove and a plurality of inertial measurement units provided by an embodiment of the present invention is shown;

[0023] Figure 5 A schematic flow chart of a dexterous hand control method provided by an embodiment of the present invention is shown.

[0024] Description of main component symbols:

[0025] 100 - dexterous hand control system; 110 - first control module; 111 - feedback unit; 112 - data glove; 113 - inertial measurement unit; 114 - computing unit; 120 - second control module; 121 - main control unit; 122 - sensor; 123 - dexterous hand motor. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0029] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0030] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0031] Example 1

[0032] The traditional dexterous hand control system relies on external devices, such as visual sensors, to capture the user's hand movements, and then control the dexterous hand according to the user's hand movements. This control method in the prior art cannot provide force tactile feedback, which causes the user to easily make operating errors or inaccurate operations during the operation of the dexterous hand, thereby affecting the operating effect and work efficiency of the dexterous hand. In this regard, an embodiment of the present invention provides a dexterous hand control system. For details, please refer to Figure 1 The dexterous hand control system 100 includes: a first control module 110 and a second control module 120, the first control module 110 includes a feedback unit 111, the second control module 120 includes a main control unit 121 and a plurality of sensors 122; the main control unit 121 and the plurality of sensors 122 are both arranged on the dexterous hand; the main control unit 121 is electrically connected to the feedback unit 111 and the plurality of sensors 122 respectively;

[0033] Each of the sensors 122 is used to respectively obtain at least one tactile feedback data and send at least one tactile feedback data to the main control unit 121; the main control unit 121 is used to send a control signal to the feedback unit 111 according to the multiple tactile feedback data; the feedback unit 111 is used to determine the target feedback intensity according to the control signal, and perform operation feedback with the target feedback intensity.

[0034] In this embodiment, the dexterous hand includes a plurality of dexterous finger joints, the feedback unit 111 includes a micro vibration feedback device, such as a linear motor; the main control unit 121 includes a microprocessor (MCU), and the plurality of sensors 122 include a torque sensor and a tactile sensor. The main control unit 121 obtains the torque data and pressure data of each dexterous finger joint during the operation of the dexterous hand through the plurality of sensors 122, and after filtering, denoising, calibrating and fusing the collected data, extracts key tactile features based on the fused data, such as the contact strength, friction coefficient and grip stability between the dexterous hand and the object, and generates corresponding control signals based on these features to control the feedback unit 111 to perform operation feedback at the target feedback strength.

[0035] For example, when the dexterous hand grasps an object, multiple sensors 122 arranged on the dexterous hand collect torque data and pressure data of each dexterous finger joint during the grasping process of the dexterous hand and feed back the data to the main control unit 121. After processing the received data, the main control unit 121 generates a corresponding control signal and sends it to the feedback unit 111, such as a linear motor. After receiving the control signal, the feedback unit 111 performs operation feedback with the target feedback intensity, for example, vibrates with the target vibration intensity, thereby providing the user with accurate force tactile feedback, allowing the user to grasp the current grasping state in time to avoid operational errors or inaccurate operations.

[0036] In one embodiment, the multiple tactile feedback data include: torque data and pressure data, and the multiple sensors 122 include: torque sensors and tactile sensors; the torque sensors are used to obtain the torque data of each dexterous finger joint; the tactile sensors are used to obtain the pressure data of each dexterous finger joint; the main control unit 121 is also used to obtain each torque data and each pressure data, and determine the current pressure of the dexterous hand according to each torque data and each pressure data; and send a control signal to the feedback unit 111 according to the current pressure.

[0037] In this embodiment, the torque data includes torque values ​​of multiple directions of the dexterous finger joints, such as torque, bending moment, etc., and the pressure data refers to the pressure on each dexterous finger joint during the operation. The main control unit 121 determines the pressure information corresponding to the current dexterous hand according to the acquired torque data and pressure data, and feeds back the pressure signal to the feedback unit 111. The feedback unit 111 includes a linear motor, and its vibration intensity is linearly related to the pressure. Specifically, the feedback unit 111 provides different degrees of vibration feedback according to the pressure information. As the pressure on the dexterous hand increases, the vibration feedback provided by the feedback unit 111 also increases accordingly.

[0038] In one embodiment, the main control unit 121 is further used to determine whether the current grasping of the dexterous hand is stable based on each of the torque data, and if it is unstable, send a preset signal to the feedback unit 111; the feedback unit 111 is also used to continuously provide feedback with a preset feedback intensity when receiving the preset signal.

[0039] In this embodiment, corresponding to different application scenarios, at least one preset torque threshold range is pre-set in the main control unit 121. When the torque data is obtained, the main control unit 121 compares each torque data with the corresponding preset torque threshold range. If the torque values ​​in all directions are maintained within the corresponding preset torque threshold range and last for a preset time, it is determined that the current grasping of the dexterous hand is stable; otherwise, it is determined that the current grasping is unstable. When it is determined that the grasping is unstable, the main control unit 121 controls the feedback unit 111 to vibrate continuously with a preset vibration intensity to prompt the user that the current grasping is unstable, thereby avoiding safety accidents.

[0040] In one embodiment, the main control unit 121 is also used to determine whether each of the torque data belongs to the corresponding preset torque threshold range; if they all do, it is determined that the current grasping of the dexterous hand is stable; if any of the torque data does not belong to the corresponding preset torque threshold range, it is determined that the current grasping of the dexterous hand is unstable.

[0041] In some complex application scenarios, for example, when the weight or shape of the grasped object changes, the main control unit 121 can dynamically adjust the preset torque threshold range based on a preset algorithm according to actual conditions to adapt to the current grasping situation.

[0042] In one embodiment, see Figure 2 The second control module 120 also includes a plurality of dexterous hand motors 123, each of which is respectively arranged on a dexterous finger joint, and each of which is used to control the movement of the corresponding dexterous finger joint; the first control module 110 also includes: a data glove 112, a plurality of inertial measurement units 113 and a computing unit 114; the data glove 112 is used to collect user hand movements; the plurality of inertial measurement units 113 are respectively arranged on the data glove 112, and are used to obtain the rotation angle of each glove finger joint and send each rotation angle to the computing unit 114; the computing unit 114 is used to send a corresponding driving signal to each of the dexterous hand motors 123 according to the corresponding rotation angle; each of the dexterous hand motors 123 is used to control the movement of the corresponding dexterous finger joint according to the driving signal.

[0043] In this embodiment, the user controls the dexterous hand movements by wearing a data glove 112, and a plurality of inertial measurement units 113 are arranged on the data glove 112. Figure 3, an inertial measurement unit 113 is respectively provided on the palm of the data glove 112 and each glove finger joint. When the data glove 112 maintains the same preset gesture as the user, the current gesture is determined as the control starting point. For example, when the user wears the data glove 112, the five fingers are spread out, and the finger curvature is 0 degrees, which is consistent with the five fingers spread out of the dexterous hand, the current gesture is used as the control starting point. When the data glove 112 is displaced, each inertial measurement unit 113 will collect the current rotation angle of each glove finger joint compared to the control starting point in real time, and send each of the rotation angles to the calculation unit 114.

[0044] In one embodiment, the calculation unit 114 is further used to determine the control amount of each of the dexterous hand motors 123 according to the corresponding rotation angle, and send a corresponding driving signal to each of the dexterous hand motors 123 according to the corresponding control amount, and the control amount is determined according to the following formula:

[0045]

[0046] Among them, Result represents the control amount, angle_err represents the rotation angle, max_m represents the maximum control amount of the dexterous hand motor, min_m represents the minimum control amount of the dexterous hand motor, max_a represents the maximum relative motion angle of the dexterous finger joint, and min_a represents the minimum relative motion angle of the dexterous finger joint.

[0047] In this embodiment, angle_err represents the rotation angle of the glove knuckle relative to the palm, and defines the finger bending degree as 0 degrees when the five fingers are open. Figure 4 ,When the glove finger joints move, the rotation angle of each glove finger joint relative to the palm sensor around the Z axis is calculated, and the rotation angle of each glove finger joint can be obtained.

[0048] For example, with the five fingers of the data glove 112 open as the control starting point, the Euler angle data of the index fingertip position corresponding to the control starting point is (100, 0, 120). It should be noted that the Euler angle data corresponds to (yaw angle, pitch angle, roll angle), and the relative motion angle of the glove finger joints is defined as 0-180 degrees, where 0 degrees corresponds to the angle when the glove finger joints are open, and 180 degrees corresponds to the angle when the glove finger joints are clenched. The corresponding position of the motor is 0-80, where 0 corresponds to the motor position when the glove finger joints are open, and 80 corresponds to the position when the glove finger joints are clenched. When the index finger tip is bent at a certain angle, the Euler angle data of the index finger tip position is (100, 90, 120), from which it can be determined that the angle deviation from the starting position to the end position of the index finger tip is 90 degrees. According to the above formula, the corresponding motor control amount of the dexterous hand is 40.

[0049] It should be noted that the hardware coordinate systems of all the inertial measurement units 113 on the data glove 112 are defined using the left-handed coordinate system, such as Figure 4 As shown, the finger joints of the right glove are bent downward, and the yaw angle is defined as the rotation around the Y axis, the pitch angle is the rotation around the Z axis, and the roll angle is the rotation around the X axis. During the movement of the glove finger joints, the yaw angle, pitch angle, and roll angle all change. In this embodiment, only the rotation angle of the finger sensor relative to the palm sensor around the z axis, that is, the relative difference of the pitch angle, is calculated to control the corresponding dexterous hand motor. In other embodiments, the yaw angle difference or the roll angle difference can also be selected for control according to actual needs. This is only an example and is not limited.

[0050] In one embodiment, the multiple sensors 122 also include a magnetic encoding sensor, which is electrically connected to the main control unit 121; the magnetic encoding sensor is used to obtain the current posture of the dexterous hand and send the current posture information to the main control unit 121; the main control unit 121 is also used to adjust the grasping posture and position of the dexterous hand according to the current posture information.

[0051] In this embodiment, when the dexterous hand grasps an object, the main control unit 121 will fine-tune the grasping posture and position in real time according to the data collected by the magnetic encoding sensor to adapt to objects of different shapes and sizes.

[0052] The dexterous hand control system provided by the embodiment of the present invention comprises: a first control module and a second control module, the first control module comprises a feedback unit, the second control module comprises a main control unit and a plurality of sensors; the main control unit and the plurality of sensors are both arranged on the dexterous hand; the main control unit is electrically connected to the feedback unit and the plurality of sensors respectively; each of the sensors is used to obtain at least one tactile feedback data respectively, and send at least one tactile feedback data to the main control unit; the main control unit is used to send a control signal to the feedback unit according to the plurality of tactile feedback data; the feedback unit is used to determine the target feedback intensity according to the control signal, and perform operation feedback with the target feedback intensity. The present invention captures finger movements through multiple sensors, and feeds back the current force tactile information to the user in real time through the feedback unit, thereby enhancing the interactivity and real-time performance in the dexterous hand control process and improving the control accuracy of the dexterous hand.

[0053] Example 2

[0054] In addition, the embodiment of the present invention also provides a dexterous hand control method, which is applied to the dexterous hand control system described in Example 1. For details, see Figure 5 , the method includes: steps 510 to X530.

[0055] Step 510: Each sensor obtains at least one tactile feedback data respectively, and sends at least one tactile feedback data to the main control unit.

[0056] Step 520: The main control unit sends a control signal to the feedback unit according to the plurality of tactile feedback data.

[0057] Step 530: The feedback unit determines a target feedback strength according to the control signal, and performs operation feedback at the target feedback strength.

[0058] The dexterous hand control method provided in the embodiment of the present invention is applied to the dexterous hand control system provided in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0059] The dexterous hand control method provided by the embodiment of the present invention obtains at least one tactile feedback data through each of the sensors, and sends at least one tactile feedback data to the main control unit; the main control unit sends a control signal to the feedback unit based on the multiple tactile feedback data; the feedback unit determines the target feedback intensity based on the control signal, and performs operation feedback with the target feedback intensity, thereby enhancing the interactivity and real-time performance in the dexterous hand control process and improving the control accuracy of the dexterous hand.

[0060] Example 3

[0061] In addition, an embodiment of the present invention provides a robot, including a dexterous hand and the dexterous hand control system described in Example 1. Specifically, the dexterous hand control system includes: a first control module and a second control module, the first control module includes a feedback unit, and the second control module includes a main control unit and a plurality of sensors; the main control unit and the plurality of sensors are both arranged on the dexterous hand; the main control unit is electrically connected to the feedback unit and the plurality of sensors, respectively; each of the sensors is used to respectively obtain at least one tactile feedback data and send at least one tactile feedback data to the main control unit; the main control unit is used to send a control signal to the feedback unit according to the plurality of tactile feedback data; the feedback unit is used to determine the target feedback intensity according to the control signal, and perform operation feedback with the target feedback intensity.

[0062] The robot provided in the embodiment of the present invention can realize all the functions of the dexterous hand control system provided in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0063] Example 4

[0064] In addition, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the dexterous hand control method provided in Example 2 is implemented.

[0065] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0066] The computer-readable storage medium provided in this embodiment can implement the dexterous hand control method provided in Example 2, and will not be described again here to avoid repetition.

[0067] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0068] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0069] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0070] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A dexterous hand control system, It is characterized in that The system comprises: a first control module and a second control module, the first control module comprises a feedback unit, and the second control module comprises a main control unit and a plurality of sensors; The main control unit and the plurality of sensors are disposed on the dexterous hand; The main control unit is electrically connected to the feedback unit and the plurality of sensors respectively; Each of the sensors is used to respectively obtain at least one tactile feedback data and send at least one tactile feedback data to the main control unit; The main control unit is used to send a control signal to the feedback unit according to the plurality of tactile feedback data; The feedback unit is used to determine a target feedback strength according to the control signal, and perform operation feedback at the target feedback strength.

2. The dexterous hand control system according to claim 1, It is characterized in that The plurality of tactile feedback data include: torque data and pressure data, and the plurality of sensors include: torque sensors and tactile sensors; The torque sensor is used to obtain the torque data of each dexterous finger joint; The tactile sensor is used to obtain the pressure data of each of the dexterous finger joints; The main control unit is further used to obtain each of the torque data and each of the pressure data, and determine the current pressure of the dexterous hand according to each of the torque data and each of the pressure data; A control signal is sent to the feedback unit according to the current pressure.

3. The dexterous hand control system according to claim 2, It is characterized in that The main control unit is further used to determine whether the current grasping of the dexterous hand is stable according to each of the torque data, and if it is not stable, send a preset signal to the feedback unit; The feedback unit is further configured to continuously provide feedback at a preset feedback intensity when receiving the preset signal.

4. The dexterous hand control system according to claim 3, It is characterized in that The main control unit is also used to determine whether each of the torque data belongs to the corresponding preset torque threshold range; If they are both, it is determined that the current grasping of the dexterous hand is stable; If any of the torque data does not belong to the corresponding preset torque threshold range, it is determined that the current grasping of the dexterous hand is unstable.

5. The dexterous hand control system according to claim 1, It is characterized in that The second control module further includes a plurality of dexterous hand motors, each of which is correspondingly arranged on a dexterous finger joint, and each of which is used to control the movement of the corresponding dexterous finger joint; The first control module also includes: a data glove, a plurality of inertial measurement units and a computing unit; The data glove is used to collect the user's hand movements; A plurality of inertial measurement units are respectively arranged on the data gloves, and are used to obtain the rotation angle of each glove finger joint, and send each rotation angle to the calculation unit; The calculation unit is used to send corresponding driving signals to each of the dexterous hand motors according to the corresponding rotation angle; Each of the dexterous hand motors is used to control the movement of the corresponding dexterous finger joint according to the driving signal.

6. The dexterous hand control system according to claim 5, It is characterized in that The calculation unit is also used to determine the control amount of each of the dexterous hand motors according to the corresponding rotation angle, and send a corresponding driving signal to each of the dexterous hand motors according to the corresponding control amount, wherein the control amount is determined according to the following formula: Among them, Result represents the control amount, angle_err represents the rotation angle, max_m represents the maximum control amount of the dexterous hand motor, min_m represents the minimum control amount of the dexterous hand motor, max_a represents the maximum relative motion angle of the dexterous finger joint, and min_a represents the minimum relative motion angle of the dexterous finger joint.

7. The dexterous hand control system according to any one of claims 1 to 6, It is characterized in that The plurality of sensors further include a magnetically coded sensor, and the magnetically coded sensor is electrically connected to the main control unit; The magnetic encoding sensor is used to obtain the current posture of the dexterous hand and send the current posture information to the main control unit; The main control unit is also used to adjust the grasping posture and position of the dexterous hand according to the current posture information.

8. A dexterous hand control method, It is characterized in that Applied to the dexterous hand control system according to any one of claims 1 to 7, the method comprising: Each sensor acquires at least one tactile feedback data, and sends at least one tactile feedback data to the main control unit; The main control unit sends a control signal to the feedback unit according to at least one of the tactile feedback data; The feedback unit determines a target feedback strength according to the control signal, and performs operation feedback at the target feedback strength.

9. A robot, It is characterized in that It comprises a dexterous hand and the dexterous hand control system as described in any one of claims 1-7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the dexterous hand control method of claim 8 is implemented.

Images