A human-computer interactive robotic hand based on shape memory polymer actuators and its applications

Abstract

This invention relates to a human-computer interaction robotic hand based on a shape memory polymer actuator and its application. The robotic hand includes a bionic robotic hand, a shape memory polymer actuator, a controller, a power supply, and sensors. The bionic robotic hand includes a palm and fingers composed of phalanges. The phalanges and the palm and fingers are connected via shape memory polymer actuators. The shape memory polymer actuator and sensors are respectively connected to the controller. The controller is connected to the power supply. The sensors are attached to the back of the operator's hand, and when the operator moves their hand, the voltage signals generated by the sensors are sent to the controller. The bionic robotic hand is attached to the back of the user's hand. The controller is used to perform thermal actuation control on the shape memory polymer actuator upon receiving the voltage signals, thereby realizing the movement of the bionic robotic hand. The human-computer interaction robotic hand of this invention has a simple structure, is lightweight, comfortable, and has high human-computer interaction safety.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a human-computer interaction robotic arm based on a shape memory polymer actuator and its applications. Background Technology

[0002] A robotic hand is a device that can mimic certain movements and functions of the human hand, and can perform various expected target actions such as grasping, moving objects, or manipulating tools through programming. Robotic hands are not only used for grasping objects, but also have applications in the field of hand injury rehabilitation.

[0003] Hand injuries are difficult to treat and require a long rehabilitation period. During rehabilitation, the affected limb needs to be moved back and forth to aid in the recovery of hand motor function. However, traditional traction rehabilitation training is often a one-on-one or even many-to-one type of assisted therapy, which is a burden on limited medical resources. Therefore, developing suitable assistive rehabilitation equipment has significant practical value. Existing assistive rehabilitation gloves are mainly rigid in structure and driven by motors or cylinders, enabling precise control, but they also have drawbacks such as complex structure, heavy weight, poor comfort, and poor human-machine interaction safety. Summary of the Invention

[0004] To address one or more technical problems existing in the prior art, this invention provides a human-computer interaction manipulator based on a shape memory polymer actuator and its application. The human-computer interaction manipulator proposed in this invention has a simple structure, is lightweight, provides good comfort, and offers high safety in human-computer interaction.

[0005] In a first aspect, the present invention provides a human-computer interaction robotic hand based on a shape memory polymer actuator, comprising: a bionic robotic hand, a shape memory polymer actuator, a controller, a power supply, and a sensor;

[0006] The bionic robotic hand includes a palm and fingers composed of phalanges; the phalanges are connected to each other, and the palm and fingers are connected to each other via the shape memory polymer actuator; the shape memory polymer actuator and the sensor are respectively connected to the controller; the controller is connected to the power supply.

[0007] The sensor is attached to the back of the operator's hand, and when the operator makes hand movements, the voltage signal generated by the sensor is sent to the controller.

[0008] The bionic robotic hand fits against the back of the user's hand, and the controller is used to perform thermal drive control on the shape memory polymer actuator when receiving the voltage signal, so as to realize the movement of the bionic robotic hand.

[0009] Preferably, the shape memory polymer actuator includes a shape memory polymer cable, a sleeve, and a flexible central shaft; the flexible central shaft extends through the central shaft of the sleeve, and the shape memory polymer cable is disposed at both ends of the sleeve.

[0010] Preferably, four shape memory polymer cables are symmetrically arranged at both ends of the sleeve.

[0011] Preferably, the shape memory polymer cable comprises, from the outside to the inside, a heat insulation layer, a shape memory polymer layer, and a resistance layer.

[0012] Preferably, the bionic robotic hand is made of polylactic acid, acrylonitrile-butadiene-styrene copolymer or thermoplastic polyurethane elastomer.

[0013] Preferably, the bionic robotic hand is prepared by 3D printing.

[0014] Preferably, the palm includes an upper palm cover and a lower palm shell, and the upper palm cover and the lower palm shell are connected by a snap fastener or screw to form a palm with an internal cavity;

[0015] The finger bone includes a finger bone cap and a finger bone shell, which are connected by snaps or screws to form a hollow internal cavity.

[0016] Preferably, the wires used to connect the shape memory polymer driver and the power supply are installed in the cavity of the palm and the cavity of the finger bone.

[0017] Preferably, the sensor is a flexible strain sensor.

[0018] Preferably, the flexible strain sensor is made of elastic material and conductive material.

[0019] Preferably, the sensor is positioned at the same location on the back of the operator's hand as the shape memory polymer actuator is mounted on the bionic robotic hand, and the number of the sensor is the same as the number of the shape memory polymer actuator.

[0020] Preferably, the controller includes a receiving unit, a core processing unit, and an output unit;

[0021] The receiving unit is used to receive the voltage signal;

[0022] The core processing unit is used to determine the output current corresponding to each shape memory polymer driver based on the voltage information;

[0023] The output unit is used to send the output current to the corresponding shape memory polymer driver.

[0024] Secondly, the present invention also provides an application of a human-computer interactive robotic hand based on a shape memory polymer actuator in the field of human hand injury rehabilitation.

[0025] Compared with the prior art, the present invention has at least the following beneficial effects:

[0026] (1) The human-computer interaction robot hand based on the shape memory polymer actuator of the present invention adopts a simple driving method. The shape memory polymer actuator utilizes the current thermal effect. By turning on or off the power, the shape memory polymer actuator is repeatedly deformed according to a predetermined shape based on thermal drive. Compared with the traditional driving method, the control difficulty is low and the hand movement can be realized in an extremely simple way.

[0027] (2) The shape memory polymer actuator used in the human-computer interaction robot provided by the present invention is small in size and can be made small enough according to specific requirements without affecting the function.

[0028] (3) The human-computer interaction manipulator provided by this invention is lightweight. The bionic manipulator is mainly composed of low-density polymer materials, which is lighter than traditional human-computer interaction manipulators of the same volume.

[0029] (4) The human-computer interaction robot provided by the present invention provides a better human-computer interaction experience. The present invention makes the grasping process more direct and the grasping logic simpler and more efficient by collecting and mapping the sensor signals on the back of the operator's hand; at the same time, the machine learning model stored in the controller can further adapt to the user's usage habits and meet the user's needs for different response speeds based on the feedback of the voltage signal.

[0030] (5) The human-computer interaction manipulator provided by the present invention has high safety. In the process of grasping small and brittle objects and in the rehabilitation of patients' hand injuries, the momentum process of the shape memory polymer actuator driving the hand movement changes smoothly, and the controller's mapping of voltage signals is realized by a machine learning model, which can change the momentum process in a timely manner through feedback, thus effectively protecting the grasped objects or the tendons of the patient's hand. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of a human-computer interaction robot based on a shape memory polymer actuator, according to an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the structure of a bionic robotic hand according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of a shape memory polymer actuator provided in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of a shape memory polymer cable according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram illustrating the operating principle of a shape memory polymer actuator according to an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of the contact position of a sensor on the back of the operator's hand according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure of a controller provided in one embodiment of the present invention;

[0039] Reference numerals: 10-Bionic robotic hand; 20-Shape memory polymer actuator; 30-Controller; 40-Power supply; 50-Sensor; 101-Palm; 102-Phalanx; 103-Finger; 201-Shape memory polymer cable; 202-Clip sleeve; 203-Flexible central shaft; 301-Receiving unit; 302-Core processing unit; 303-Output unit; 401-Insulation layer; 402-Shape memory polymer layer; 403-Resistive layer. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a human-computer interaction robotic hand based on a shape memory polymer actuator, including: a bionic robotic hand 10, a shape memory polymer actuator 20, a controller 30, a power supply 40, and a sensor 50;

[0042] The bionic robotic hand 10 includes a palm 101 and fingers 103 composed of phalanges 102; the phalanges 102 are connected to each other, and the palm 101 and fingers 103 are connected to each other via shape memory polymer actuators 20; the shape memory polymer actuators 20 and sensors 50 are respectively connected to a controller 30; the controller 30 is connected to a power supply 40.

[0043] The sensor 50 is attached to the back of the operator's hand, and when the operator makes hand movements, the voltage signal generated by the sensor 50 is sent to the controller 30.

[0044] The bionic robotic hand 10 is attached to the back of the hand of the person being manipulated. The controller 30 is used to perform thermal drive control on the shape memory polymer actuator 20 when a voltage signal is received, so as to realize the movement of the bionic robotic hand 10.

[0045] It should be noted that the shape memory polymer actuator is located at the metacarpophalangeal and phalangeal joints of the bionic robotic hand, and is used to control the movement of the user's hand joints. The controller sends a corresponding current to the shape memory polymer actuator when it receives a voltage signal for thermal drive control. The magnitude of the current controls the degree of bending of the shape memory polymer actuator, thereby realizing the movement of the bionic robotic hand.

[0046] In this embodiment of the invention, the human-computer interaction manipulator based on a shape memory polymer actuator employs a simple driving method. The shape memory polymer actuator utilizes the thermal effect of electric current, causing it to repeatedly deform according to a predetermined shape through thermal actuation by energizing or de-energizing. Compared to traditional driving methods, this method is less difficult to control and can achieve hand movements in an extremely simple way. Simultaneously, the momentum change during hand movements driven by the shape memory polymer actuator is gradual, effectively protecting the tendons of the hand when grasping objects or patients (i.e., the manipulated person), thereby improving the safety of the human-computer interaction manipulator.

[0047] According to some preferred embodiments, such as Figure 3 As shown, the shape memory polymer actuator includes a shape memory polymer cable 201, a sleeve 202, and a flexible central shaft 203; the flexible central shaft 203 passes through the central shaft of the sleeve 202, and the shape memory polymer cable 201 is disposed at both ends of the sleeve 202.

[0048] Specifically, the flexible central shaft includes, but is not limited to, rubber materials, such as vulcanized rubber; the ferrule includes, but is not limited to, expandable polystyrene and silicone rubber. The ferrule serves to fix the flexible central shaft and the shape memory polymer cable, while also improving the comfort of the operator; the flexible central shaft provides a certain degree of support. Through holes are provided at the central shaft of the ferrule to accommodate the flexible central shaft, and through holes are provided at equal distances at both ends of the ferrule to accommodate the shape memory polymer cable, ultimately creating a shape memory polymer actuator.

[0049] According to some preferred embodiments, such as Figure 3 As shown, four shape memory polymer cables 201 are symmetrically arranged at both ends of the sleeve 202.

[0050] In this invention, by symmetrically arranging four shape memory polymer cables around the card sleeve, the bending motion of the hand joints can be made smoother, reducing the problem of finger deflection in the bionic robotic hand caused by two or three shape memory polymer cables, thereby further improving the user's comfort.

[0051] According to some preferred embodiments, such as Figure 4 As shown, the shape memory polymer cable 201 includes, from the outside to the inside, a heat insulation layer 401, a shape memory polymer layer 402, and a resistance layer 403.

[0052] Specifically, the shape memory transition temperature of the shape memory polymer layer is 80–120°C (e.g., it can be 80°C, 85°C, 90°C, 95°C, 100°C, 105°C, 110°C, 115°C, or 120°C).

[0053] In this invention, the resistive layer is an alloy resistive cable. This alloy resistive cable is placed in a solution of a shape memory polymer (e.g., epoxy resin) and cured to obtain a resistive layer encapsulating the shape memory polymer layer. Then, an insulating layer (e.g., ceramic fiber insulating paper) is wrapped around the outermost layer to obtain a shape memory polymer cable. The resistive layer converts current into heat energy to provide the necessary heat for the shape memory polymer layer to exert its shape memory effect. The shape memory polymer layer is a tubular structure made of shape memory polymer, serving as an insulating layer while simultaneously allowing the shape memory polymer cable to deform, thus enabling hand joint bending and hand movement. The insulating layer insulates against the heat converted from the current, preventing burns to the user's hand.

[0054] In this invention, the shape memory polymer layer in the shape memory polymer actuator is driven by heat. Therefore, by utilizing the characteristic that the shape memory polymer layer undergoes slow deformation due to the thermal effect of the resistive layer current, it is possible to achieve good comfort and human-computer interaction safety.

[0055] Specifically, such as Figure 5 As shown, for each shape memory polymer actuator, when the shape memory polymer actuator receives current from the controller, the shape memory polymer cable in the actuator heats up due to the heating of its resistive layer, causing the shape memory polymer layer to gradually deform. This leads to synchronous deformation of the shape memory polymer cable, and the flexible central shaft also bends accordingly, realizing the bending of the joint of the bionic robotic hand where the shape memory polymer actuator is located (e.g., Figure 5(As shown in the left figure). Similarly, when extending the bent joints of the bionic robotic hand, it is also necessary to apply electricity and heat to restore the shape memory polymer layer to achieve the extension of the bionic robotic hand joints (e.g., Figure 5 As shown in the right figure, the bending and stretching of the hand are achieved by energizing and de-energizing the shape memory polymer actuator.

[0056] According to some preferred embodiments, the biomimetic robotic arm is made of polylactic acid, acrylonitrile-butadiene-styrene copolymer or thermoplastic polyurethane elastomer.

[0057] According to some preferred embodiments, the bionic robotic hand is prepared by 3D printing.

[0058] In this invention, the bionic robotic hand is made entirely of 3D printed materials. Except for the power source, it is made of lightweight materials. Therefore, the bionic robotic hand has the advantages of being lightweight, portable, technologically advanced, and low-cost.

[0059] According to some preferred embodiments, the palm includes a palm top cover and a palm bottom shell, which are connected by snaps or screws to form a palm with an internal cavity.

[0060] A phalanx consists of a phalanx cap and a phalanx shell, which are connected by snaps or screws to form a hollow phalanx.

[0061] According to some preferred embodiments, the wires used to connect the shape memory polymer driver and the power supply are installed in the cavity of the palm and the cavity of the finger bones.

[0062] Specifically, based on the structure of a human hand, a bionic robotic hand component model (including the upper and lower palmar covers, and the upper and lower phalangeal covers of each phalanx) is created in 3D modeling software and exported as an STL file. This file is then imported into slicing software for slicing, and support structures are set and added. The model is then exported in G-code format for input into a 3D printer for printing. After printing, the model supports are disassembled to obtain the individual bionic robotic hand components. Then, following the steps described... Figure 1 and Figure 2 The connection relationships and installation positions of each component are shown. The wires are placed in the cavities of the palm and finger bones, and the shape memory polymer actuators are connected at the corresponding positions. Then, the upper and lower shells of the palm and the upper and lower shells of each finger bone are connected by buckles or screws to obtain a bionic robotic hand.

[0063] According to some preferred embodiments, the sensor is a flexible strain sensor.

[0064] According to some preferred embodiments, the flexible strain sensor is made of elastic material and conductive material.

[0065] In this invention, the flexible sensor is made of elastic and conductive materials. It is not only conductive, but also conforms to the operator's hand and has a certain degree of elasticity. It can bend or stretch with hand movements, is wear-resistant, and has a long service life.

[0066] According to some preferred embodiments, such as Figure 6 As shown, the sensor 50 is positioned on the back of the operator's hand in the same way as the shape memory polymer actuator 20 is mounted on the bionic robotic hand 10, and the number of sensors 50 is the same as the number of shape memory polymer actuators 20.

[0067] It should be noted that, as Figure 2 and Figure 6 As shown, the number of sensors is the same as the number of shape memory polymer drivers, both being 14. Each sensor and each shape memory polymer driver are independently controlled, and there is a one-to-one correspondence between the sensor, shape, and shape memory polymer driver. That is, the voltage signal emitted by the sensor is output as the current of the corresponding shape memory polymer driver after passing through the controller.

[0068] According to some preferred embodiments, the flexible strain sensor is attached to an insulating film, and the insulating film with the flexible strain sensor attached is attached to the back of the operator's hand.

[0069] In this invention, an insulating film with flexible strain sensors attached is attached to the back of the operator's hand. This insulating film not only serves as insulation, enhancing safety, but also allows all flexible strain sensors to be attached to or removed from the operator's hand at once, improving the user experience.

[0070] In this invention, during practical application, when the operator performs hand movements, the flexible strain sensor attached to the back of their hand experiences a significant change in resistance due to stretching. This change alters the voltage across the sensor via a voltage divider circuit. Therefore, by monitoring the voltage signal across the flexible strain sensor, the current required for the shape memory polymer actuator at the corresponding location to undergo the same deformation can be obtained. Thus, with the cooperation of the controller and the shape memory polymer actuator, the sensor on the back of the operator's hand controls the shape memory polymer actuator on the subject's hand, thereby achieving control of the bionic robotic hand. This simplifies the grasping logic of the bionic robotic hand, enabling more convenient and efficient control. Furthermore, it allows for the control of hand movements of multiple subjects from a single operator, improving the efficiency of hand rehabilitation training.

[0071] Specifically, such as Figure 6As shown, flexible strain sensors are positioned at the metacarpophalangeal and phalangeal joints to detect hand joint movement. Changes in the angles of each joint are reflected in the flexible strain sensors. The flexible strain sensors can be fabricated as follows: thermoplastic resin is used as a flexible substrate (i.e., an elastic material), and carbon fiber is used as a conductive material. The thermoplastic resin and chopped carbon fiber are mixed at a mass ratio of 1:3 at room temperature and stirred thoroughly with a magnetic stirrer for 20 hours. The mixture is then poured into a mold and cured at room temperature. After curing, it is cut into strips (15mm*5mm) and positioned at the corresponding interphalangeal and metacarpophalangeal joints, etc., corresponding to the shape memory polymer actuators. Electrodes are placed at both ends of the sensor for lead wires to connect to the controller. It should be noted that the two ends of the electrodes are along the finger direction.

[0072] According to some preferred embodiments, such as Figure 7 As shown, the controller 30 includes a receiving unit 301, a core processing unit 302, and an output unit 303;

[0073] The receiving unit 301 is used to receive voltage signals;

[0074] The core processing unit 302 is used to determine the output current corresponding to each shape memory polymer driver based on voltage information;

[0075] The output unit 303 is used to send the output current to the corresponding shape memory polymer driver 20.

[0076] It should be noted that the core processing unit contains a pre-trained machine learning model. The training data for this machine learning model is pre-collected and integrated from sensor data of hand movements and current data required to complete the corresponding movements. Moreover, the model can further adapt to the user's usage habits and response speed requirements based on external feedback, thereby further improving the user experience of the controlled user. At the same time, it achieves the goals of low control difficulty, good functional integrity, and simple and efficient driving method.

[0077] Specifically, electrodes are provided at both ends of the sensor, and wires are led out from the location of each electrode and connected to the receiving unit of the controller, which reads the voltage across each sensor. The shape memory polymer driver is connected to the output unit of the controller via wires.

[0078] In existing solutions, as the complexity of actual working environments continues to increase, robotic arms often face practical difficulties in maintenance and failure rates when grasping small objects. Furthermore, the rapid momentum changes caused by their rapid response can easily damage brittle objects in certain scenarios. The human-computer interaction robotic arm based on a shape memory polymer actuator provided by this invention solves these problems by employing biomimetic mechanics and a shape memory polymer actuator. It uses the thermal effect of electric current to drive the biomimetic robotic arm in slow motion. Compared to existing robotic arms, it can better meet the needs of hand injury rehabilitation and small object grasping.

[0079] In a preferred embodiment, the controller is mounted on the arm of the person being manipulated.

[0080] It should be noted that a controller is installed on each of the manipulated person's arms. At this time, a transmitting unit needs to be provided on the operator's arm to send the voltage signals of each sensor on the back of the operator's hand to each controller, so that the controller can output the output current of each shape memory polymer driver.

[0081] In this invention, the power supply includes a transformer structure and a rectifier to provide the required DC power to the controller, shape memory polymer driver, and sensor. It should be noted that, to further facilitate powering the controller and shape memory polymer driver, a power supply is installed on the arm of each user (operator or controlled user) to power the controller and shape memory polymer driver respectively.

[0082] According to some preferred embodiments, the shape memory polymer actuator is connected to the controller via wires.

[0083] This invention also provides an application of a human-computer interaction robotic hand based on a shape memory polymer actuator in the field of human hand injury rehabilitation, in which the controlled person is a patient who needs hand rehabilitation training, and the operator is a rehabilitation physician.

[0084] In this invention, the use of "and / or" between multiple technical features indicates that these technical features are connected by an "and / or" relationship, meaning that it can be any one of these technical features, or any combination of two or more of these technical features.

[0085] The present invention will be further described below by way of examples, but the scope of protection of the present invention is not limited to these embodiments.

[0086] Example 1

[0087] like Figure 1As shown, a human-computer interaction robotic hand based on a shape memory polymer actuator includes: a bionic robotic hand 10 made of polylactic acid by 3D printing, a shape memory polymer actuator 20, a controller 30, a power supply 40, and a sensor 50.

[0088] like Figure 2 As shown, the bionic robotic hand 10 includes a palm 101 and fingers 103 composed of phalanges 102; the phalanges 102 are connected to each other, and the palm 101 and fingers 103 are connected to each other via shape memory polymer actuators 20; the shape memory polymer actuators 20 and sensors 50 are respectively connected to a controller 30, and the controller 30 is connected to a power supply 40; wherein, the upper and lower shells of the palm and the upper and lower shells of each phalange are obtained by 3D printing using polylactic acid, and the upper and lower shells of the palm and the phalanges are connected by snaps or screws to form a palm with a hollow interior; the upper and lower shells of the phalanges are connected by snaps or screws to form phalanges with a hollow interior.

[0089] like Figure 3 As shown, the shape memory polymer actuator includes a shape memory polymer cable 201, a sleeve 202, and a flexible central shaft 203; the flexible central shaft 203 passes through the central shaft of the sleeve 202, and four shape memory polymer cables 201 are symmetrically arranged at both ends of the sleeve 202; wherein, the shape memory polymer cable 201 includes, from the outside to the inside, a heat insulation layer 401, a shape memory polymer layer 402, and a resistive layer 403;

[0090] The flexible strain sensor 50 (made of thermoplastic resin and carbon fiber) is attached to the palm joint and finger joints on the back of the operator's hand (its attachment position is the same as the installation position of the shape memory polymer actuator). When the operator makes hand movements, the voltage signal generated by the sensor 50 is sent to the controller 30.

[0091] The bionic robotic hand 10 is attached to the back of the hand of the person being manipulated. The receiving unit 301 of the controller 30 receives the voltage signal of each flexible strain sensor. The core processing unit 302 determines the output current of each corresponding shape memory polymer actuator 20 based on all the received voltage information. The output unit 303 sends the output current to the corresponding shape memory polymer actuator 20 to realize the movement of the bionic robotic hand.

[0092] Example 2

[0093] Example 2 is basically the same as Example 1, except that: 8 shape memory polymer cables 201 are symmetrically arranged at both ends of the sleeve 202, with each pair of shape memory polymer cables 201 installed side by side in the same position.

[0094] Example 3

[0095] Example 3 is basically the same as Example 1, except that: an insulating film is attached to the back of the operator's hand, and then a flexible strain sensor 50 (made of thermoplastic resin and carbon fiber) is attached to the palm joint and finger joints on the back of the operator's hand (its attachment position is the same as the installation position of the shape memory polymer actuator). When the operator makes hand movements, the voltage signal generated by the sensor 50 is sent to the controller 30.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. The parts of the present invention not described in detail are techniques known to those skilled in the art.

Claims

1. A human-computer interaction robotic hand based on a shape memory polymer actuator, characterized in that, include: Bionic robotic arms, shape memory polymer actuators, controllers, power supplies, and sensors; The bionic robotic hand includes a palm and fingers composed of phalanges; the phalanges are connected to each other, and the palm and fingers are connected to each other via the shape memory polymer actuator; the shape memory polymer actuator and the sensor are respectively connected to the controller; the controller is connected to the power supply. The sensor is attached to the back of the operator's hand, and when the operator makes hand movements, the voltage signal generated by the sensor is sent to the controller. The bionic robotic hand fits against the back of the user's hand, and the controller is used to perform thermal drive control on the shape memory polymer actuator when receiving the voltage signal, so as to realize the movement of the bionic robotic hand. The shape memory polymer actuator includes a shape memory polymer cable, a sleeve, and a flexible central shaft; the flexible central shaft passes through the central shaft of the sleeve, and the shape memory polymer cable is disposed at both ends of the sleeve; a total of four shape memory polymer cables are symmetrically disposed at both ends of the sleeve; the shape memory polymer cable includes, from the outside to the inside, a heat insulation layer, a shape memory polymer layer, and a resistive layer. The biomimetic robotic arm is made of polylactic acid, acrylonitrile-butadiene-styrene copolymer or thermoplastic polyurethane elastomer by 3D printing; The palm includes a palm top cover and a palm bottom shell, which are connected by snaps or screws to form a hollow interior. The finger bones include a finger bone top cover and a finger bone bottom shell, which are connected by snaps or screws to form a hollow interior. The wires for connecting the shape memory polymer driver and the power supply are installed in the cavities of the palm and the finger bones.

2. The human-computer interaction robotic hand according to claim 1, characterized in that: The sensor is a flexible strain sensor.

3. The human-computer interaction robotic hand according to claim 2, characterized in that: The flexible strain sensor is made of elastic and conductive materials.

4. The human-computer interaction robotic hand according to claim 1, characterized in that: The sensor is positioned at the same location on the back of the operator's hand as the shape memory polymer actuator is mounted on the bionic robotic hand, and the number of the sensor is the same as the number of the shape memory polymer actuator.

5. The human-computer interaction robotic arm according to any one of claims 1 to 4, characterized in that: The controller includes a receiving unit, a core processing unit, and an output unit; The receiving unit is used to receive the voltage signal; The core processing unit is used to determine the output current corresponding to each shape memory polymer driver based on the voltage information; The output unit is used to send the output current to the corresponding shape memory polymer driver.

6. The application of a human-computer interaction robotic hand based on a shape memory polymer actuator as described in any one of claims 1 to 5 in the field of human hand injury rehabilitation.

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