Hand exoskeleton robot control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of robot control, in particular to a hand exoskeleton robot control method and device, electronic equipment and a storage medium. Corresponding analog voltage values of each finger in ten fingers of a hand exoskeleton robot at multiple bending angles are obtained; and determining a fitting function of the bending sensor of each finger according to the analog voltage value, selecting a working mode of the hand exoskeleton robot when responding to a working mode instruction triggered by the target user, and determining a target bending angle of the target user according to the working mode and the fitting function, a driving motor of the hand exoskeleton robot is further controlled to drive the hand exoskeleton robot to run to the target bending angle, so that accurate detection and intelligent control of the hand exoskeleton robot on the finger bending state are realized, and the personalized adaptive capacity of the hand exoskeleton robot and the flexibility of multi-scene application are improved; therefore, the user experience and the overall performance of the equipment are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a hand exoskeleton robot control method, device, electronic device and storage medium. Background Art

[0002] Hands play a very important role in human survival activities. Trauma to the hands usually leads to peripheral nerve damage, resulting in impaired hand function. Therefore, hand rehabilitation treatment is particularly important. It can prevent tendon adhesion to the greatest extent, accelerate the recovery of nerve electrical signals, ensure the recovery of patients after nerve injury, and increase the possibility of patients returning to normal life.

[0003] With the continuous development of robot-assisted rehabilitation technology in the field of rehabilitation medicine, hand rehabilitation robots have become an effective solution. Hand exoskeletons, a mechatronic device, can be worn on the patient's hand, with controllable force and torque to achieve long-term, repetitive exercise. However, traditional hand exoskeleton robots can only achieve some simple rehabilitation movements and cannot perform situational recognition. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a hand exoskeleton robot control method, device, electronic device and storage medium to achieve precise control and multi-scenario working mode switching of the hand exoskeleton robot.

[0005] A first aspect of the present application provides a hand exoskeleton robot control method, the method comprising: Obtain the analog voltage value corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles; Determine a fitting function of the bend sensor of each finger according to the simulated voltage value; In response to a working mode instruction triggered by a target user, selecting a working mode of the hand exoskeleton robot; Determining a target bending angle of the target user according to the working mode and the fitting function; The driving motor of the hand exoskeleton robot is controlled to drive the hand exoskeleton robot to move to the target bending angle.

[0006] In an optional embodiment, the method further comprises: When it is detected that the hand exoskeleton robot is in initial use, adjusting the working mode to a debugging mode; Controlling the driving motor to drive the hand exoskeleton robot to operate according to a preset speed and a preset bending angle until the bending angle of the hand exoskeleton robot meets a bending angle of 90°; Determining a rotation ratio of the drive motor according to the preset bending angle and the 90° bending angle, and determining a rotation angle value of the drive motor at the 90° bending angle; Determining a target rotation angle of the drive motor at the target bending angle according to the rotation ratio and the rotation angle value; The drive motor is controlled to rotate according to the target rotation angle so that the hand exoskeleton robot meets the target bending angle.

[0007] In an optional implementation, the working mode further includes a training mode, and the method further includes: When it is determined that the hand exoskeleton robot is successfully connected, obtaining the training action group and training duration selected by the target user in the training mode; The hand exoskeleton robot is controlled to operate according to the training action group and the training duration.

[0008] In an optional embodiment, controlling the operation of the hand exoskeleton robot according to the training action group and the training duration includes: Determining a target training finger and a target training angle corresponding to each training action in the training action group; Determine a target drive motor corresponding to the target training finger; Determining an actual rotation angle corresponding to the target drive motor according to the target training angle; The target drive motor is controlled to rotate according to the actual rotation angle and the training duration.

[0009] In an optional implementation, the working mode further includes a mirror control mode, and the method further includes: When the target user has finished wearing the first robot and the second robot of the hand exoskeleton robot, determining the target action data of the target user in the mirror control mode; When it is determined that the first Bluetooth module of the hand exoskeleton robot receives the control instruction of the target motion data, starting the second Bluetooth module of the hand exoskeleton robot, wherein the second Bluetooth module is arranged in the first robot; Determining target angle data of the first robot according to the target motion data; The first robot is controlled to send the target angle data to the third Bluetooth module of the hand exoskeleton robot according to the second Bluetooth module, so as to control the second robot to operate according to the target angle data, wherein the third Bluetooth module is set in the second robot.

[0010] In an optional embodiment, the working mode further includes a grasping mode, and the method further includes: Acquire a first level state of the first Bluetooth module and a second level state of the third Bluetooth module; When it is determined that the first level state and / or the second level state is a low level state, controlling the hand exoskeleton robot to perform the grasping mode; When it is detected that the initial state of the target user generates a first change instruction, the hand exoskeleton robot is controlled to perform a grasping movement.

[0011] When the initial state sends a second change instruction, the hand exoskeleton robot is controlled to perform a stretching movement.

[0012] In an optional embodiment, the method further comprises: When the first level state and the second level state are both in a high level state, determining the working mode instruction triggered by the target user; Determine the working mode corresponding to the working mode instruction; The hand exoskeleton robot is controlled to operate according to the working mode.

[0013] A second aspect of the present application provides a hand exoskeleton robot control device, the device comprising: An acquisition module is used to obtain the analog voltage value corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles; A first determining module, configured to determine a fitting function of a bending sensor of each finger according to the analog voltage value; A selection module, configured to select a working mode of the hand exoskeleton robot in response to a working mode instruction triggered by a target user; A second determination module, configured to determine a target bending angle of the target user according to the working mode and the fitting function; The control module is used to control the driving motor of the hand exoskeleton robot to drive the hand exoskeleton robot to move to the target bending angle.

[0014] A third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the hand exoskeleton robot control method when executing the computer program.

[0015] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned hand exoskeleton robot control method when executed by a processor.

[0016] In summary, the hand exoskeleton robot control method, device, electronic device and storage medium provided by the present application improve the detection accuracy of the finger bending state by obtaining the analog voltage values ​​corresponding to the ten fingers of the hand exoskeleton robot at multiple bending angles, and determining the fitting function of each finger bending sensor accordingly. Then, according to the working mode instruction triggered by the user, the working mode of the hand exoskeleton robot (such as debugging mode, training mode, mirror control mode, etc.) is flexibly selected, so that the hand exoskeleton robot can adapt to different usage scenarios and needs, and improve its application flexibility and extensiveness. In the control process, the user's finger bending angle is determined by combining the working mode and the fitting function, and the drive motor is controlled to drive the hand exoskeleton robot to run to this angle, realizing an intelligent control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural schematic diagram of a hand exoskeleton robot shown in an embodiment of the present application; Figure 2 is a flow chart of a hand exoskeleton robot control method shown in an embodiment of the present application; Figure 3 It is a flow chart of a control method of a hand exoskeleton robot whose working mode is a debugging mode shown in an embodiment of the present application; Figure 4 is a flow chart of a control method for a hand exoskeleton robot whose working mode is a training mode shown in an embodiment of the present application; Figure 5 It is a flow chart of a control method of a hand exoskeleton robot in which the working mode is a mirror control mode as shown in an embodiment of the present application; Figure 6 is a flow chart of a control method for a hand exoskeleton robot whose working mode is a grasping mode shown in an embodiment of the present application; Figure 7 It is a schematic diagram of an interface of a control interface shown in an embodiment of the present application; Figure 8 It is a second interface schematic diagram of a control interface shown in an embodiment of the present application; Fig. 9 It is a schematic diagram of the third interface of a control interface shown in an embodiment of the present application; Fig.10 is a functional module diagram of a hand exoskeleton robot control device shown in an embodiment of the present application; Fig.11 It is a structural schematic diagram of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0020] Reference Figure 1 , which is a schematic diagram of the structure of a hand exoskeleton robot shown in an embodiment of the present application.

[0021] In some embodiments, the hand exoskeleton robot 1 is provided with a plurality of Bluetooth modules 10, and the Bluetooth modules 10 construct a wireless communication network to realize real-time data exchange and control between the user and the hand exoskeleton robot through the electronic device. The Bluetooth modules 10 may include a first Bluetooth module (hereinafter referred to as Bluetooth A), a second Bluetooth module (hereinafter referred to as Bluetooth B), and a third Bluetooth module (hereinafter referred to as Bluetooth C).

[0022] In some embodiments, different baud rates and pairing passwords can be set in advance for Bluetooth A, Bluetooth B, and Bluetooth C, respectively, to achieve pairing in pairs. At the same time, corresponding master-slave modes can also be set for Bluetooth A, Bluetooth B, and Bluetooth C, respectively, so that the master Bluetooth module searches for the slave Bluetooth module with the corresponding baud rate and pairing password, and connects with the slave Bluetooth module. Exemplarily, when a user needs to control the hand exoskeleton robot 1 through an electronic device, the Bluetooth module provided by the electronic device can be paired with any one of Bluetooth A, Bluetooth B, and Bluetooth C, and the remaining two Bluetooth modules are paired in pairs, wherein the Bluetooth modules that are paired in pairs require the same baud rate and pairing password, and the pairing mode of the two parties is one master and one slave, and the master module searches for the slave module and connects.

[0023] In some embodiments, any one of Bluetooth A, Bluetooth B and Bluetooth C can be used to connect to the user's electronic device. When the Bluetooth module is in slave mode, it is used to send control commands corresponding to the control operations performed by the user through the electronic device (client). The other two Bluetooth modules are installed on the mirror end and the data end, respectively. Exemplarily, assuming that Bluetooth A is used to connect to the client, Bluetooth B and Bluetooth C are installed on the mirror end and the data end, respectively, wherein the installation positions of Bluetooth B and Bluetooth C are interchangeable. Specifically, the hand exoskeleton robot 1 can include a left hand (first robot) and a back hand (second robot), and the first robot can be used as a mirror end, the second robot can be used as a data end, or the two can be interchanged.

[0024] In some embodiments, the hand exoskeleton robot 1 is also provided with a sensor module 20, wherein the sensor module 20 includes ten bending sensors, specifically, each finger is provided with a corresponding bending sensor, which is used to collect the finger bending angles of the user's ten fingers. In some embodiments, each finger of the hand exoskeleton robot is also provided with a drive motor, and the angle control is performed by determining the motor driving the bending sensor installed on the back of the finger. In the embodiment of the present application, the drive motor is a micro motor to reduce the weight of the hand exoskeleton robot. In some embodiments, the hand exoskeleton robot 1 is also provided with a control unit 30, which is used to obtain the working mode of the hand exoskeleton robot 1 selected by the user when it is detected that the user is wearing the hand exoskeleton robot 1, and control the hand exoskeleton robot 1 to perform rehabilitation training for the user according to the working mode. Since an independent bending sensor and micro motor are installed on each finger, the bending state and bending angle of each finger can be collected in real time, and the bending state and bending angle are transmitted to the control unit 30, so that the control unit 30 sends a control command to the corresponding micro motor according to the working mode, bending state and bending angle selected by the user, so that the micro motor drives the finger to achieve a separate bending or stretching action when receiving the control command. In addition, the control unit 30 is also equipped with a multi-finger coordination algorithm for controlling multiple fingers to move simultaneously according to the same embodiment as above.

[0025] In some embodiments, the control unit 30 may be a single chip microcomputer, which is used to receive control instructions sent by a user after establishing a connection with the Bluetooth module 10 through an electronic device, so as to control the hand exoskeleton robot 1.

[0026] Reference Figure 2 , which is a flow chart of a hand exoskeleton robot control method shown in an embodiment of the present application, and the hand exoskeleton robot control method includes the following steps.

[0027] S21, obtaining analog voltage values ​​corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles.

[0028] In some embodiments, ten bend sensors are respectively installed on the corresponding finger positions of the hand exoskeleton robot to ensure that the bend sensor can accurately sense the degree of bending of the finger, and the output end of the bend sensor is connected to the IO port of the control unit to read the analog voltage value generated by the bend sensor. Further, each finger is bent to multiple specified angles in turn, and after each angle is maintained for a preset time, the corresponding analog voltage value read by the IO port is recorded. In the embodiment of the present application, the fingers are bent to 0°, 30°, 60° and 90° in turn, where straightening is 0° and making a fist is 90°.

[0029] In some embodiments, a protractor may be used to assist in measuring the bending angle of the finger to ensure the accuracy of the angle measurement. Secondly, in order to improve the reliability and accuracy of the data, each angle of each finger may be bent and recorded multiple times, and then the average value is taken as the final data.

[0030] S22: Determine a fitting function of the bend sensor of each finger according to the analog voltage value.

[0031] In some embodiments, the collected analog voltage values ​​are integrated with the corresponding finger numbers and bending angles and input into an Excel spreadsheet. Specifically, each column represents the voltage value of a finger at different bending angles, and each row corresponds to the change in the analog voltage value of a finger from 0° to 90°.

[0032] In the embodiment of the present application, the cubic polynomial model is selected because it can fit most nonlinear relationships well and has sufficient flexibility to adapt to the bending characteristics of different fingers. As the function to be fitted, y is the simulated voltage value and x is the bending angle. Using Excel for fitting calculation can automatically calculate the best fitting parameters, that is, the coefficients a, b, c, and d of the fitting function, so that the error between the fitting function and the actual data point is minimized.

[0033] It should be noted that for each of the ten fingers, the above fitting process will be performed independently. Therefore, each finger has a unique cubic polynomial fitting function, and its coefficients (a, b, c, d) will be calculated based on the bending angle and analog voltage value of the finger.

[0034] Exemplarily, the fitting function of the right thumb can be expressed by the following formula: .

[0035] In some embodiments, the electronic device may also use the fitted data points (such as 15°, 45°, 75°, etc.) to verify the accuracy of the fitting function by comparing the actual bending angle with the bending angle calculated by the fitting function.

[0036] Through the above optional implementation, by accurately measuring the simulated voltage values ​​of the ten fingers of the hand exoskeleton robot at different bending angles and fitting them using a cubic polynomial model, an accurate description of the nonlinear relationship between the bending angle of each finger and the simulated voltage value is achieved, which significantly improves the control accuracy and response speed of the hand exoskeleton robot, allowing the robot to more accurately simulate the complex movements of human fingers. At the same time, the specific function of each finger is independently fitted to ensure the personalization and accuracy of the hand exoskeleton robot.

[0037] S23, in response to the working mode instruction triggered by the target user, selecting the working mode of the hand exoskeleton robot.

[0038] Among them, the target user refers to any user who needs to use the hand exoskeleton robot for hand rehabilitation training. In some embodiments, the user can select the working mode of the hand exoskeleton robot through the control application installed in the hand exoskeleton robot and the provided human-computer interaction interface. Among them, the working mode includes debugging mode, training mode, mirror control mode and daily training mode. In other embodiments, the user can also select the working mode of the hand exoskeleton robot through the working mode switching button provided by the hand exoskeleton robot. In addition, the user can also select the working mode of the hand exoskeleton robot through the control application installed in the electronic device (for example, the user's mobile phone), and control the hand exoskeleton robot according to the same embodiment.

[0039] Specifically, when the user selects the working mode of the hand exoskeleton robot through an electronic device, it is first necessary to connect to the Bluetooth A of the hand exoskeleton robot through the electronic device, and determine whether the connection with the hand exoskeleton robot is successful through the Bluetooth status of the electronic device. If the connection is successful, the user is allowed to trigger the selection of the working mode through the electronic device.

[0040] S24, determining a target bending angle of the target user according to the working mode and the fitting function.

[0041] According to the selected working mode, the target bending angle that the target user needs to achieve in the working mode is determined, and the target bending angle is selected by the user when selecting the working mode. Secondly, according to the fitting function obtained in step S22, the target bending angle can be converted into a corresponding analog voltage, and the analog voltage is used as the target voltage value of the drive motor for controlling the hand exoskeleton robot.

[0042] S25, controlling the driving motor of the hand exoskeleton robot to drive the hand exoskeleton robot to move to the target bending angle.

[0043] In some embodiments, the target voltage value calculated in step S24 is input into the control unit of the hand exoskeleton robot, and the control unit can then drive the control circuit of the motor to control the drive motor to run in a preset direction and preset speed. During the operation of the drive motor, the analog voltage value of the IO interface is monitored in real time, and the analog voltage value is compared with the target voltage value. If there is a difference, the control unit will adjust the output of the control motor to reduce the difference, and the analog voltage value of the IO interface reaches the target voltage value, that is, until the finger reaches the target bending angle. When the finger reaches the target bending angle, the control unit will stop the operation of the drive motor and keep the hand exoskeleton robot stable and motionless in this position.

[0044] Through the above optional implementation, the flexibility and user experience of the hand exoskeleton robot are significantly improved through diversified working mode selection and precise fitting function control. Users can easily switch working modes through various channels (such as applications, buttons or remote devices) to meet the needs of different scenarios. At the same time, combined with the fitting function to accurately control the finger bending angle, the fine adjustment of the hand exoskeleton robot's movements is achieved, ensuring the accuracy and stability of the movements, and jointly promoting the hand exoskeleton robot to perform rehabilitation training on users.

[0045] In an optional embodiment, the method further comprises: When it is detected that the hand exoskeleton robot is in initial use, adjusting the working mode to a debugging mode; Controlling the driving motor to drive the hand exoskeleton robot to operate according to a preset speed and a preset bending angle until the bending angle of the hand exoskeleton robot meets a bending angle of 90°; Determining a rotation ratio of the drive motor according to the preset bending angle and the 90° bending angle, and determining a rotation angle value of the drive motor at the 90° bending angle; Determining a target rotation angle of the drive motor at the target bending angle according to the rotation ratio and the rotation angle value; The drive motor is controlled to rotate according to the target rotation angle so that the hand exoskeleton robot meets the target bending angle.

[0046] In some embodiments, since the length of each user's fingers is inconsistent, the hand exoskeleton robot needs to adapt to each user's fingers. When it is detected that the hand exoskeleton robot is used for the first time, the default working mode of the hand exoskeleton robot is adjusted to the debugging mode. In the debugging mode, the drive motor is controlled to drive the fingers to bend according to the preset speed. Among them, the preset speed is determined according to the user's tolerable range at the current stage, and the preset speed is determined by the user data input by the user when the user uses the hand exoskeleton robot for Bluetooth connection. When the user does not meet the preset speed, the preset speed can be adjusted through the electronic device or the human-computer interaction interface of the hand exoskeleton robot.

[0047] During the motor driving process, the drive motor is controlled to continue rotating according to the preset speed and the preset bending angle (for example, 1°), that is, the drive motor is controlled to rotate so that the hand exoskeleton robot bends from 0° to 1°, and the rotation angle of the drive motor at 1° is recorded. Then the drive motor is controlled to bend the hand exoskeleton robot from 1° to 2°, and the rotation angle of the drive motor at 2° is recorded, and so on, until the hand exoskeleton robot bends to 90°, at which time the control of the drive motor is stopped, and the rotation angle of the drive motor at 90° is recorded. The rotation ratio of the drive motor corresponding to each bending angle is determined by the ratio of the rotation angle corresponding to each bending angle to the rotation angle corresponding to 90°. When determining the bending angle (target bending angle) corresponding to the working mode selected by the user, the selection ratio corresponding to the target bending angle is determined, and the rotation angle (target rotation angle) of the drive motor under the target bending angle is obtained according to the product of the rotation ratio and the rotation angle (rotation angle value) corresponding to 90°. In other embodiments, during the motor driving process, the drive motor can also be controlled to rotate according to other bending angles, which is not specifically limited in this application. In addition, the ratio of the target bending angle to 90° can also be used as the rotation ratio. Assuming that the index finger of the hand exoskeleton robot needs to be driven to bend to 45°, the drive motor needs to be controlled to rotate to 1 / 2 of the recorded value.

[0048] It should be noted that the hand exoskeleton robot records the angular position data of the drive motor. For example, the hand exoskeleton robot needs to rotate 3600° to rotate to 90°, but the user feels it is too tight and reverses it 100°. In this case, the rotation angle value of the drive motor recorded by the hand exoskeleton robot is 3500°.

[0049] In some embodiments, before controlling the drive motor to rotate, the hand exoskeleton robot can automatically detect and determine whether the bending sensor, encoder and drive motor are operating normally, and set the initial state of the drive motor to a stopped state so that the drive motor is ready to receive control instructions.

[0050] Through the above optional implementation, the relationship between the bending angle of the hand exoskeleton robot and the rotation angle of the drive motor is automatically calibrated through the debugging mode to ensure the precise control of the hand exoskeleton robot. By gradually increasing the bending angle at a preset speed and recording the corresponding rotation angle, the rotation ratio is calculated, and then the rotation angle of the drive motor at any target bending angle is accurately determined, which improves the accuracy of the hand exoskeleton robot operation and user experience, while allowing users to adjust the preset speed according to actual needs, enhancing the flexibility and adaptability of the hand exoskeleton robot.

[0051] In some embodiments, reference is made to Figure 3 and Figure 7 , when the user needs to select the working mode of the hand exoskeleton robot as the debugging mode, the user first needs to connect Bluetooth A through an electronic device, and judge whether the connection with the hand exoskeleton robot is successful through the Bluetooth status of the electronic device. If the connection fails, the mode selection button of the hand exoskeleton robot remains locked, and the user cannot select the working mode as the debugging mode; if the connection is successful, the mode selection button is unlocked, and the hand exoskeleton robot can be controlled to enter the debugging mode by clicking the debugging mode button, and the debugging mode interface is jumped. Specifically, when the debugging mode instruction clicked by the user is received, the electronic device sends a data packet including the debugging mode to the hand exoskeleton robot according to the preset data packet format. The preset data packet format may include a packet header, a mode selection flag and a packet tail. The mode selection flag can be customized by the user, for example, set to 0x0A. When the control unit of the hand exoskeleton robot receives the data packet, the debugging mode instruction is parsed, and the debugging mode is entered when 0x0A is recognized. In addition, the packet header and the packet tail can also be customized. For example, the packet header can be set to 0xFE and the packet tail can be set to 0xEF, and the complete data packet is 0xFE 0x0A 0xEF. It should be noted that the control unit of the hand exoskeleton robot will only control the hand exoskeleton robot to enter the corresponding working mode if the header and tail of the package are detected. Otherwise, if the header and tail of the package are not identified, the control unit of the hand exoskeleton robot will automatically skip the control instruction so that the hand exoskeleton robot maintains the current state.

[0052] When the control unit of the hand exoskeleton robot does not recognize the debugging mode, it returns the data packet to the electronic device through Bluetooth A, and pops up an error prompt box through the electronic device to inform the user that the mode selection is wrong. When the control unit of the hand exoskeleton robot recognizes the debugging mode, it enters the debugging mode. When the user's wearing instruction is detected, the micro motor is controlled according to the same embodiment as above to pull down the finger according to the preset speed until the bending angle returned by the bending sensor is 90° and stops. In the process of the micro motor pulling the finger, the control unit of the hand exoskeleton robot reads the analog voltage value returned by the bending sensor in real time, and converts the collected analog voltage value into the bending angle of the finger through a known fitting function. When it is determined that the bending angle is 90°, the control unit of the hand exoskeleton robot stops controlling the micro motor so that the micro motor stops pulling the finger.

[0053] In some embodiments, the key parts of the fingers of the hand exoskeleton robot (such as the motor output shaft) are also equipped with encoders to record the rotation angle or position of the micro motor. When the angle returned by the bending sensor reaches 90°, the control unit reads the current value of the encoder and records it as the motor position data and bending angle of the user at each bending angle in the flash memory of the control unit of the hand exoskeleton robot to ensure that the data is not lost when the power is off.

[0054] Furthermore, the user can click the return button on the electronic device to return to the main interface, and the electronic device can then send a return instruction to the control unit of the hand exoskeleton robot according to the preset data packet format. For example, 0x0E can be set to represent return, and the complete data packet is 0xFE 0x0E 0xEF. When the Bluetooth A of the hand exoskeleton robot receives the data packet, the control unit of the hand exoskeleton robot parses the data packet. When 0x0E is recognized, the micro motor is controlled to reverse and save the user's bending angle, so that the user's fingers are stretched again, and stretched from 90° to 0°, and wait for the next control instruction. Similarly, if the control unit of the hand exoskeleton robot does not recognize the return instruction, the data packet is returned to the electronic device via Bluetooth A, and an error prompt box is popped up by the electronic device to inform the user of the return error.

[0055] Through the above optional implementation, the safe selection of the hand exoskeleton robot working mode and the precise control of the debugging mode are achieved through Bluetooth connection and preset data packet format, ensuring that the debugging mode can be entered only after the electronic device is successfully connected, thereby enhancing the safety of the hand exoskeleton robot and the convenience of user operation. At the same time, through the application of encoders and fitting functions, the accurate recording and conversion of the finger bending angles are achieved, improving the accuracy and adaptability of the hand exoskeleton robot.

[0056] In an optional embodiment, the method further comprises: When it is determined that the hand exoskeleton robot is successfully connected according to the Bluetooth connection status, the training action group and training duration selected by the target user in the training mode are obtained; Determining a target training finger and a target training angle corresponding to each training action in the training action group; Determining a target drive motor corresponding to the target training finger, and determining an actual rotation angle corresponding to the target drive motor according to the target training angle; The target drive motor is controlled to rotate according to the actual rotation angle and the training duration.

[0057] Refer to Figure 4 In some embodiments, according to the same embodiment as above, the user needs to establish a connection with the hand exoskeleton robot through an electronic device. When the Bluetooth connection is successful, unlock the mode selection button, then the user can click the training mode button, and the electronic device can send a data packet including a training mode flag to the hand exoskeleton robot according to a preset data packet format. For example, the data packet has 0xFE as the packet header and 0xEF as the packet tail, and contains a mode selection flag in the middle (such as 0x0B for training mode). When the hand exoskeleton robot receives the data packet, it parses the data packet. If the training mode flag is identified, the hand exoskeleton robot is controlled to perform the training mode. Otherwise, an error data packet is returned to the electronic device via Bluetooth, and the user is prompted that the mode selection is wrong. Refer to Figure 8In the training mode interface, the user selects the required training action group and sets the corresponding training duration, that is, the user can customize which fingers need to be flexed and extended, which actions are required for the flexed and extended fingers, and set the training duration accordingly. After determining the training action group and training duration selected by the user, the electronic device can generate a control instruction based on the training action group and the training duration according to the preset data packet format, and send the control instruction to the hand exoskeleton robot via Bluetooth, so that the control unit of the hand exoskeleton robot parses the control instruction to determine the finger corresponding to each training action in the training action group and the bending angle corresponding to the finger. Further, the hand exoskeleton robot can determine the motor code of the drive motor corresponding to the finger (for example, the motor code bit 01 of the left thumb, the motor code bit 02 of the left index finger, and so on), and determine the rotation angle (actual rotation angle) of the drive motor corresponding to the bending angle from the database, and send the control instruction carrying the actual rotation angle to the drive motor (target drive motor) on the corresponding finger, and control the target drive motor to rotate directly to the actual rotation angle. Further, the time taken for the target drive motor to rotate to the actual rotation angle is determined, and the actual number of rotations of the target drive motor to the actual rotation angle can be calculated according to the training duration selected by the user. Then, the control unit of the hand exoskeleton robot can control the target drive motor to rotate according to the actual rotation angle and the actual number of rotations. When the actual number of rotations is met, the target drive motor is controlled to rotate until the encoder is 0°, and the user's fingers are in an extended state. In other embodiments, for each training action in the training action group, the electronic device can determine the corresponding target drive motor according to the same embodiment as above, the actual rotation angle and the actual number of rotations corresponding to the target drive motor, generate a control instruction according to the actual rotation angle and the actual number of rotations, and send it to the control unit of the hand exoskeleton robot, so that the control unit of the hand exoskeleton robot can realize the control of the corresponding target drive motor.

[0058] In some embodiments, after the user selects the training action group and sets the training time (if the training duration is not set, the training will continue), click the start training button, and the electronic device will send a data packet with 0xFE as the packet header, 0xEF as the packet tail, and each training action as data (for example: the preset index finger flexion and extension is 0x01, the thumb flexion and extension is 0x02, and the five-finger flexion and extension is 0x03. Then the complete data packet sent at this time is 0xFE 0x01 0x02 0x03 0xEF, and the preset training action is a permutation and combination of five finger flexion and extension). When the training is completed, the user can click the return button on the electronic device to return to the main interface. At this time, the electronic device can send a return instruction to the control unit of the hand exoskeleton robot according to the preset data packet format. For example, 0x0E can be set to represent return, and the complete data packet is 0xFE 0x0E 0xEF. When the Bluetooth A of the hand exoskeleton robot receives a data packet, the control unit of the hand exoskeleton robot parses the data packet. When 0x0E is recognized, the target drive motor is controlled to reverse and save the bending angle data corresponding to the user's training action group, and ensure that the user's fingers are in an extended state, waiting for the next instruction. Otherwise, the data packet is returned to the electronic device via Bluetooth A and an error prompt box is popped up.

[0059] In some embodiments, the electronic device can also set a timer to calculate the training duration, and send a training stop data packet (e.g., 0xFE 0x0F 0xEF) to the hand exoskeleton robot after the training is completed. In other embodiments, a timer can also be set in the hand exoskeleton robot, and when it is detected that the training duration is met, the rotation of the drive motor is automatically stopped.

[0060] Through the above optional implementation, the function of user-defined training action groups and training duration is realized through the Bluetooth connection between the electronic device and the hand exoskeleton robot. By accurately controlling the rotation angle and number of the drive motor of the target finger, the personalization and accuracy of hand rehabilitation training are effectively improved. At the same time, an automatic feedback mechanism is provided after the training is completed to ensure that the user's fingers are in an extended state, which improves the convenience and safety of use.

[0061] In an optional implementation, the working mode further includes a mirror control mode, and the method further includes: When the target user has finished wearing the first robot and the second robot of the hand exoskeleton robot, determining the target action data of the target user in the mirror control mode; When it is determined that the first Bluetooth module of the hand exoskeleton robot receives the control instruction of the target motion data, starting the second Bluetooth module of the hand exoskeleton robot, wherein the second Bluetooth module is arranged in the first robot; Determining target angle data of the first robot according to the target motion data; The first robot is controlled to send the target angle data to the third Bluetooth module of the hand exoskeleton robot according to the second Bluetooth module, so as to control the second robot to operate according to the target angle data, wherein the third Bluetooth module is set in the second robot.

[0062] In some embodiments, the hand exoskeleton robot includes a first robot and a second robot. The first robot and the second robot are respectively provided with a Bluetooth module. The Bluetooth module provided in the first robot is called the second Bluetooth module, that is, Bluetooth B, and the Bluetooth module provided in the second robot is called the third Bluetooth module, that is, Bluetooth C.

[0063] Refer to Figure 5 According to the same implementation method as above, the user is also required to connect to the Bluetooth A of the hand exoskeleton robot through an electronic device. When the Bluetooth connection is successful, unlock the mode rotation button, then the user can click the mirror control mode button, and send a data packet including the mirror control mode flag to the hand exoskeleton robot through the electronic device according to the preset data packet format. For example, 0x0C represents the mirror control mode, and the completed data packet is 0xFE 0x0C 0xEF. When the hand exoskeleton robot receives the data packet, it parses the data packet. If the mirror control mode flag is identified, the hand exoskeleton robot is controlled to perform the mirror control mode. Otherwise, an error data packet is returned to the electronic device via Bluetooth, and the user is prompted that the mode selection is wrong.

[0064] Refer to Fig. 9 When the hand exoskeleton robot is determined to be in mirror control mode, the user can complete the wearing of the gloves on the data end and the mirror end provided by the control interface of the electronic device. In order to more clearly understand the inventive concept of the present application, the following embodiments are described by taking the first robot as the data end and the second robot as the mirror end as an example.

[0065] When it is determined that the first robot and the second robot are both fully dressed, the user can select the training action (target action data) to be trained through the control interface of the electronic device, and click the start button, then the electronic device sends a start data packet carrying the target action data to the hand exoskeleton robot, and the hand exoskeleton robot starts Bluetooth B after receiving the start data packet. Further, the angle data (target angle data) after fitting of the bending sensor in the data end is obtained, and the target angle data is sent to the mirror end in real time through Bluetooth C in a preset data packet format, so that after the mirror end receives the target angle data, the corresponding finger is driven to the same position through the drive motor according to the target angle data, so as to realize the mirror control. Exemplarily, assuming that the thumb is bent to 60°, the index finger is bent to 80°, the middle finger is bent to 90°, the ring finger is bent to 90°, and the little finger is bent to 20°, then the complete data packet can be 0xFE 0x60 0x80 0x90 0x90 0x20 0xEF.

[0066] In some embodiments, when it is determined that the training of the target action data is completed in the mirror control mode, that is, when the mirror control mode needs to be exited, the user can click the return button on the control interface, and the electronic device sends a return data packet to the hand exoskeleton robot. After the hand exoskeleton robot receives the return data packet, it parses the data packet and controls the drive motor at the mirror end to reverse to a preset extension state angle (such as the encoder is 0°) to ensure that the user's fingers are in an extended state. If the data packet parsing fails or is not the expected return instruction, an error data packet is returned to the electronic device via Bluetooth A, and an error prompt box pops up.

[0067] Through the above optional implementation, the synchronization and accuracy between the data end and the mirror end are ensured through the mirror control mode and Bluetooth real-time communication, the synchronous action control between the hand exoskeleton robots is realized, and the training efficiency and user experience are improved. In an optional embodiment, the working mode further includes a grasping mode, and the method further includes: Acquire a first level state of the first Bluetooth module and a second level state of the third Bluetooth module; When it is determined that the first level state and / or the second level state is a low level state, controlling the hand exoskeleton robot to perform the grasping mode; When it is detected that the initial state of the target user generates a first change instruction, the hand exoskeleton robot is controlled to perform a grasping movement.

[0068] When the initial state sends a second change instruction, the hand exoskeleton robot is controlled to perform a stretching movement.

[0069] In some embodiments, reference is made to Figure 6 , when it is detected that the hand exoskeleton robot is powered on, the control unit at the mirror end can detect the high and low levels of the state of Bluetooth A and Bluetooth C to determine whether Bluetooth A and C are paired, where a high level represents connection and a low level represents disconnection. Specifically, the mirror end can obtain the level state of Bluetooth A (first level state) and the level switch of Bluetooth C (second level state), and determine whether the first level state and the second level state are high level state or low level state. When it is determined that any one of the first level state and the second level state is a low level state, it can be determined that Bluetooth A and Bluetooth C are not connected, and the grasping mode (also called the grasping mode) is automatically performed.

[0070] When it is determined that the working mode of the hand exoskeleton robot is in the grasping mode, the user's initial state is set to the extended state, and the bending sensor on the hand exoskeleton robot is used to detect whether the user's initial state has changed. When it is detected that the user's initial state has changed, how the initial state has changed is identified. When it is detected that the user lightly grasps the finger, it indicates that a first change instruction has been generated. At this time, the bending sensor of the hand exoskeleton robot recognizes the angle change, and the hand exoskeleton robot is controlled to continue the grasping action to assist the user in the grasping movement. When it is detected that the user slightly lifts the finger, it indicates that a second change instruction has been generated. At this time, the thin film pressure sensor between the hand exoskeleton robot and the user's finger recognizes the pressure change, and the hand exoskeleton robot is controlled to stretch to assist the user in the stretching movement.

[0071] Refer to Fig. 9 In other embodiments, the mirror end can also be controlled by the electronic device and the data end according to the same implementation method as above. In addition, the user can also input the number of rotations of the drive motor of each finger of the hand exoskeleton robot through the control interface to realize the grasping movement (also called grasping movement) and stretching movement (also called releasing movement) of the hand exoskeleton robot. When the training is completed, the user can return to the main interface through the control interface.

[0072] Through the above optional implementation method, the level status of the Bluetooth module is detected to automatically switch to the grasping mode, and the sensor is used to monitor the changes in the user's finger status in real time to achieve intelligent assisted grasping and stretching movements, thereby enhancing the intelligence and automation level of the hand exoskeleton robot, improving the user experience, and making hand rehabilitation training more convenient and efficient.

[0073] In an optional embodiment, the method further comprises: When the first level state and the second level state are both in a high level state, determining the working mode instruction triggered by the target user; Determine the working mode corresponding to the working mode instruction; The hand exoskeleton robot is controlled to operate according to the working mode.

[0074] In some embodiments, when it is determined that the first level state and the second level state are both high level states, it indicates that Bluetooth A and Bluetooth C have established a connection. When the Bluetooth connection is successful, the electronic device can send a data packet carrying a working mode flag to the mirror end according to the same embodiment as above to the hand exoskeleton robot. When the hand exoskeleton robot is parsed to 0x0A, it enters the debugging mode, when the hand exoskeleton robot is parsed to 0x0B, it enters the training mode, and when the hand exoskeleton robot is parsed to 0x0C, it enters the mirror control mode.

[0075] Through the above-mentioned optional implementation method, the establishment of communication between the electronic device and the hand exoskeleton robot is confirmed by detecting the Bluetooth connection status, and then the working mode of the hand exoskeleton robot is accurately controlled according to the sent working mode instructions (such as debugging, training, and mirror control mode), thereby realizing efficient and flexible remote control and customized function switching, and improving the user experience and the intelligence level of the hand exoskeleton robot operation.

[0076] Reference Fig.10 , which is a functional module diagram of a hand exoskeleton robot control device shown in an embodiment of the present application.

[0077] In some embodiments, the hand exoskeleton robot control device 40 may include a plurality of functional modules composed of computer program segments. The computer programs of the various program segments of the hand exoskeleton robot control device 40 may be stored in a memory of an electronic device and executed by at least one processor to perform (see Figure 2 Description) Functions of hand exoskeleton robot control.

[0078] In this embodiment, the hand exoskeleton robot control device 40 can be divided into multiple functional modules according to the functions it performs. The functional modules may include: an acquisition module 401, a first determination module 402, a selection module 403, a second determination module 404 and a control module 405. The module referred to in this application refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0079] The acquisition module 401 is used to acquire the analog voltage value corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles.

[0080] The first determining module 402 is configured to determine a fitting function of the bending sensor of each finger according to the analog voltage value.

[0081] The selection module 403 is used to select the working mode of the hand exoskeleton robot in response to the working mode instruction triggered by the target user.

[0082] The second determination module 404 is configured to determine a target bending angle of the target user according to the working mode and the fitting function.

[0083] The control module 405 is used to control the driving motor of the hand exoskeleton robot to drive the hand exoskeleton robot to move to the target bending angle.

[0084] The control module 405 is also used for: when it is detected that the hand exoskeleton robot is in initial use, adjusting the working mode to the debugging mode; controlling the drive motor to drive the hand exoskeleton robot to operate according to a preset speed and a preset bending angle until the bending angle of the hand exoskeleton robot meets the 90° bending angle; determining the rotation ratio of the drive motor according to the preset bending angle and the 90° bending angle, and determining the rotation angle value of the drive motor at the 90° bending angle; determining the target rotation angle of the drive motor at the target bending angle according to the rotation ratio and the rotation angle value; and controlling the drive motor to rotate according to the target rotation angle so that the hand exoskeleton robot meets the target bending angle.

[0085] The control module 405 is also used to: when determining that the hand exoskeleton robot is successfully connected, obtain the training action group and training duration selected by the target user in the training mode; and control the operation of the hand exoskeleton robot according to the training action group and the training duration.

[0086] The control module 405 is also specifically used to: determine the target training finger and target training angle corresponding to each training action in the training action group; determine the target drive motor corresponding to the target training finger; determine the actual rotation angle corresponding to the target drive motor according to the target training angle; and control the target drive motor to rotate according to the actual rotation angle and the training duration.

[0087] The control module 405 is also used for: when the target user has completed wearing the first robot and the second robot of the hand exoskeleton robot, determining the target action data of the target user in the mirror control mode; when it is determined that the first Bluetooth module of the hand exoskeleton robot has received the control instruction of the target action data, starting the second Bluetooth module of the hand exoskeleton robot, wherein the second Bluetooth module is arranged in the first robot; determining the target angle data of the first robot according to the target action data; controlling the first robot to send the target angle data to the third Bluetooth module of the hand exoskeleton robot according to the second Bluetooth module, so as to control the second robot to operate according to the target angle data, wherein the third Bluetooth module is arranged in the second robot.

[0088] The control module 405 is further used to: obtain the first level state of the first Bluetooth module and the second level state of the third Bluetooth module; when it is determined that the first level state and / or the second level state is a low level state, control the hand exoskeleton robot to perform the grasping mode; when it is detected that the initial state of the target user generates a first change instruction, control the hand exoskeleton robot to perform a grasping movement. When it is detected that the initial state sends a second change instruction, control the hand exoskeleton robot to perform a stretching movement.

[0089] The control module 405 is also used to: when the first level state and the second level state are both in high level states, determine the working mode instruction triggered by the target user; determine the working mode corresponding to the working mode instruction; and control the operation of the hand exoskeleton robot according to the working mode.

[0090] It should be understood that the various variations and specific embodiments of the hand exoskeleton robot control method provided in the above-mentioned embodiments are also applicable to the hand exoskeleton robot control device of the present embodiment. Through the above-mentioned detailed description of the hand exoskeleton robot control method, those skilled in the art can clearly know the implementation method of the hand exoskeleton robot control device of the present embodiment. For the sake of brevity of the specification, it will not be described in detail here.

[0091] See also Fig.11 FIG. 1 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. In a preferred embodiment of the present application, the electronic device 11 includes a memory 111 , at least one processor 112 and at least one communication bus 113 .

[0092] Those skilled in the art should understand that Fig.11The structure of the electronic device shown does not constitute a limitation of the embodiments of the present application, and may be either a bus structure or a star structure. The electronic device 11 may also include more or less other hardware or software than shown in the figure, or a different component arrangement.

[0093] In some embodiments, the electronic device 11 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits, programmable gate arrays, digital processors, and embedded devices. The electronic device 11 may also include user equipment, which includes but is not limited to any electronic product that can interact with a user through a keyboard, mouse, remote control, touchpad, or voice control device, such as a personal computer, tablet computer, smart phone, digital camera, etc.

[0094] In the above embodiments provided in the present application, it should be understood that the disclosed methods, devices, computer-readable storage media, and electronic devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple components or modules can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or components or modules, which can be electrical, mechanical or other forms.

[0095] The components described as separate components may or may not be physically separated, and the components shown as components may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the components may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each component may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0097] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0098] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0099] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A hand exoskeleton robot control method, characterized in that: The method comprises: Obtain the analog voltage value corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles; Determine a fitting function of the bending sensor of each finger according to the simulated voltage value; In response to a working mode instruction triggered by a target user, selecting a working mode of the hand exoskeleton robot; Determining a target bending angle of the target user according to the working mode and the fitting function; The driving motor of the hand exoskeleton robot is controlled to drive the hand exoskeleton robot to move to the target bending angle.

2. The hand exoskeleton robot control method according to claim 1, characterized in that: The method further comprises: When it is detected that the hand exoskeleton robot is in initial use, adjusting the working mode to a debugging mode; Controlling the driving motor to drive the hand exoskeleton robot to operate according to a preset speed and a preset bending angle until the bending angle of the hand exoskeleton robot meets a bending angle of 90°; Determining a rotation ratio of the drive motor according to the preset bending angle and the 90° bending angle, and determining a rotation angle value of the drive motor at the 90° bending angle; Determining a target rotation angle of the drive motor at the target bending angle according to the rotation ratio and the rotation angle value; The drive motor is controlled to rotate according to the target rotation angle so that the hand exoskeleton robot meets the target bending angle.

3. The hand exoskeleton robot control method according to claim 1, characterized in that: The working mode also includes a training mode, and the method further includes: When it is determined that the hand exoskeleton robot is successfully connected, obtaining the training action group and training duration selected by the target user in the training mode; The hand exoskeleton robot is controlled to operate according to the training action group and the training duration.

4. The hand exoskeleton robot control method according to claim 3, characterized in that: The step of controlling the hand exoskeleton robot to operate according to the training action group and the training duration includes: Determining a target training finger and a target training angle corresponding to each training action in the training action group; Determine a target drive motor corresponding to the target training finger; Determining an actual rotation angle corresponding to the target drive motor according to the target training angle; The target drive motor is controlled to rotate according to the actual rotation angle and the training duration.

5. The hand exoskeleton robot control method according to claim 1, characterized in that: The working mode also includes a mirror control mode, and the method further includes: When the target user has finished wearing the first robot and the second robot of the hand exoskeleton robot, determining the target action data of the target user in the mirror control mode; When it is determined that the first Bluetooth module of the hand exoskeleton robot receives the control instruction of the target motion data, starting the second Bluetooth module of the hand exoskeleton robot, wherein the second Bluetooth module is arranged in the first robot; Determining target angle data of the first robot according to the target motion data; The first robot is controlled to send the target angle data to the third Bluetooth module of the hand exoskeleton robot according to the second Bluetooth module, so as to control the second robot to operate according to the target angle data, wherein the third Bluetooth module is set in the second robot.

6. The hand exoskeleton robot control method according to claim 5, characterized in that: The working mode also includes a grasping mode, and the method further includes: Acquire a first level state of the first Bluetooth module and a second level state of the third Bluetooth module; When it is determined that the first level state and / or the second level state is a low level state, controlling the hand exoskeleton robot to perform the grasping mode; When it is detected that the initial state of the target user generates a first change instruction, controlling the hand exoskeleton robot to perform a grasping movement; When the initial state sends a second change instruction, the hand exoskeleton robot is controlled to perform a stretching movement.

7. The hand exoskeleton robot control method according to claim 6, characterized in that: The method further comprises: When the first level state and the second level state are both in a high level state, determining the working mode instruction triggered by the target user; Determine the working mode corresponding to the working mode instruction; The hand exoskeleton robot is controlled to operate according to the working mode.

8. A hand exoskeleton robot control device, characterized in that: The device comprises: An acquisition module is used to obtain the analog voltage value corresponding to each of the ten fingers of the hand exoskeleton robot at multiple bending angles; A first determining module, configured to determine a fitting function of a bending sensor of each finger according to the analog voltage value; A selection module, configured to select a working mode of the hand exoskeleton robot in response to a working mode instruction triggered by a target user; A second determination module, configured to determine a target bending angle of the target user according to the working mode and the fitting function; The control module is used to control the driving motor of the hand exoskeleton robot to drive the hand exoskeleton robot to move to the target bending angle.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the hand exoskeleton robot control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the hand exoskeleton robot control method according to any one of claims 1 to 7 are implemented.

Images