Bionic manipulator and control method thereof

Abstract

The invention discloses a bionic manipulator and a control method of the bionic manipulator, and belongs to the technical field of manipulator technologies. The bionic manipulator comprises a bionic finger, a driver and a controller, the bionic finger comprises a bionic skeleton and a bionic soft tissue; the bionic skeleton comprises a metacarpal bone and a phalanx; metacarpophalangeal joints are formed between the metacarpal bone and the phalanges, and interphalangeal joints are formed between the phalanges; the bionic soft tissue comprises an artificial ligament, a metacarpophalangeal ligament, an extensor tendon cap, an extensor tendon, a tendon sheath and a flexor tendon which are made of soft materials. The controller is used for controlling the driver to drag the extensor tendon and / or flexor tendon so that the bionic fingers can bend and extend. According to the multi-degree-of-freedom bionic manipulator, control over multiple degrees of freedom can be achieved through a small number of drivers, and the weight and the structural complexity of the bionic manipulator are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a bionic manipulator and a control method for the bionic manipulator. Background Art

[0002] There is a great demand for bionic manipulators in the rehabilitation field, and bionic manipulators are also widely used in industrial manufacturing, service robots and other scenarios.

[0003] Current bionic manipulators usually adopt more complex structures and heavier materials, but in certain specific application scenarios, such as wearable rehabilitation equipment or exoskeleton robots, this heavier weight will increase the burden on the user and affect the comfort of long-term use.

[0004] Therefore, how to achieve control of multiple degrees of freedom with a small number of drivers and reduce the weight and structural complexity of the bionic manipulator is a technical problem that technicians in this field currently need to solve. Summary of the invention

[0005] The purpose of the present application is to provide a bionic manipulator and a control method for the bionic manipulator, which can realize the control of multiple degrees of freedom with a small number of drivers, thereby reducing the weight and structural complexity of the bionic manipulator.

[0006] In order to solve the above technical problems, the present application provides a bionic manipulator, comprising: a bionic finger, a driver and a controller;

[0007] The bionic finger comprises a bionic bone and a bionic soft tissue;

[0008] The bionic skeleton comprises metacarpal bones and phalanges; a metacarpophalangeal joint is formed between the metacarpal bones and the phalanges, and an interphalangeal joint is formed between the phalanges;

[0009] The bionic soft tissue comprises an artificial ligament, a metacarpophalangeal ligament, an extensor tendon hood, an extensor tendon, a tendon sheath and a flexor tendon made of soft material; the artificial ligament is arranged at the interphalangeal joint, the metacarpophalangeal ligament is arranged at the metacarpophalangeal joint, the extensor tendon hood is arranged at the dorsal side of the bionic finger, the extensor tendon passes through the extensor tendon hood, and the extensor tendon is respectively connected to the phalanges and the driver; the tendon sheath is arranged at the palm side of the phalanges and the metacarpal bones, the flexor tendon passes through the tendon sheath, and the flexor tendon is respectively connected to the phalanges and the driver;

[0010] The controller is used to control the driver to drag the extensor tendon and / or the flexor tendon so that the bionic finger performs flexion and extension movements.

[0011] Optionally, the phalanges include a proximal phalanx, a middle phalanx and a distal phalanx; the proximal phalanx and the middle phalanx form a proximal interphalangeal joint, and the middle phalanx and the distal phalanx form a distal interphalangeal joint.

[0012] Optionally, the artificial ligament includes a first artificial ligament disposed at the distal interphalangeal joint, and a second artificial ligament disposed at the proximal interphalangeal joint;

[0013] The first artificial ligament and the second artificial ligament are M-shaped bionic ligaments made of polyethylene wire, and the metacarpophalangeal ligament is an M-shaped bionic ligament made of silicone material.

[0014] Optionally, the extensor tendon bonnet includes a first sub-bonnet and a second sub-bonnet, the first sub-bonnet wraps the back of the middle phalanx and is attached to the distal interphalangeal joint and the proximal interphalangeal joint; the second sub-bonnet wraps the back of the proximal phalanx and is attached to the metacarpal bone, and the first sub-bonnet is arranged on an upper layer of the second sub-bonnet;

[0015] The extensor tendon is a bionic tendon made of polyethylene wire, and the extensor tendon passes through the first sub-tendon cap and the second sub-key cap.

[0016] Optionally, the driver includes a first servo and a first steering disc, wherein the first steering disc is mounted on the first servo; one end of the extensor tendon is wrapped around the first steering disc; and the first steering disc is used to tighten or relax the extensor tendon when rotating with the first servo.

[0017] Optionally, the flexor tendon includes a first sub-flexor tendon, a second sub-flexor tendon and a third sub-flexor tendon, and the first sub-flexor tendon, the second sub-flexor tendon and the third sub-flexor tendon are all bionic tendons made of polyethylene wire;

[0018] The tendon sheath comprises a first tendon sheath, a second tendon sheath and a third tendon sheath, wherein the first tendon sheath is arranged on the middle phalanx, the second tendon sheath is arranged on the proximal phalanx, and the third tendon sheath is arranged on the metacarpal bone;

[0019] The first sub-flexor tendon passes through the first tendon sheath, the second tendon sheath and the third tendon sheath, and the first sub-flexor tendon is connected to the distal phalanx and the driver respectively;

[0020] The second sub-flexor tendon passes through the second tendon sheath and the third tendon sheath, and the second sub-flexor tendon is connected to the middle phalanx and the driver respectively;

[0021] The third sub-flexor tendon passes through the third tendon sheath, and the second sub-flexor tendon is connected to the proximal phalanx and the driver, respectively.

[0022] Optionally, the driver includes a second steering gear and a second steering disc, the second steering disc is mounted on the second steering gear, the second steering disc includes a first sub-steering disc, a second sub-steering disc and a third sub-steering disc, and the rotation centers of the first sub-steering disc, the second sub-steering disc and the third sub-steering disc are on the same straight line;

[0023] One end of the first sub-flexor tendon is wound around the first sub-steering disc, and the first sub-steering disc is used to tighten or loosen the first sub-flexor tendon when rotating with the second steering gear;

[0024] One end of the second sub-flexor tendon is wound around the second sub-steering disc, and the second sub-steering disc is used to tighten or loosen the second sub-flexor tendon when rotating with the second steering gear;

[0025] One end of the third sub-flexor tendon is wound around the third sub-steering disc, and the third sub-steering disc is used to tighten or loosen the third sub-flexor tendon when rotating with the second steering gear.

[0026] Optionally, the bionic manipulator also includes a Bluetooth module connected to the controller, and the Bluetooth module is used to transmit the electromyographic signal sent by the myoelectric armband to the controller, so that the controller controls the driver to drag the extensor tendon and / or the flexor tendon according to the electromyographic signal; wherein the myoelectric armband is worn on the user's arm.

[0027] Optionally, the metacarpophalangeal joint is a joint with a ball-and-socket structure.

[0028] The present application also provides a control method for a bionic manipulator, a controller for any of the above-mentioned bionic manipulators, and the control method for the bionic manipulator comprises:

[0029] Receiving an electromyographic signal transmitted by the myoelectric arm ring, and determining a target posture of the bionic manipulator according to the electromyographic signal;

[0030] A control instruction is sent to a corresponding driver according to the target posture, so that the bionic finger performs flexion and extension movement and reaches the target posture.

[0031] The present application provides a bionic manipulator, including: a bionic finger, a driver and a controller; the bionic finger includes a bionic skeleton and a bionic soft tissue, and the bionic soft tissue includes an artificial ligament, a palmar finger ligament, an extensor tendon cap, an extensor tendon, a tendon sheath and a flexor tendon made of soft materials; the controller can drag the extensor tendon and / or the flexor tendon through the driver to achieve the flexion and extension movement of the bionic finger. Different from the complex structure of the traditional manipulator in which a driver is set at each movement point, the bionic finger of the present invention adopts the structure of a bionic skeleton and a bionic soft tissue, and realizes the flexion and extension movement of the bionic finger by controlling the driver to drag the extensor tendon and the flexor tendon. It can be seen that the bionic manipulator provided by the present application reduces the number of drivers, can achieve control of multiple degrees of freedom with a small number of drivers, and reduces the weight and structural complexity of the bionic manipulator. The present application also provides a control method for a bionic manipulator, which has the above-mentioned beneficial effects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the appearance of a bionic manipulator provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the appearance of a bionic finger provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of the location of an artificial ligament and a metacarpophalangeal ligament provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a metacarpophalangeal ligament provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the location of the extensor tendon bonnet provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a first sub-tendon cap provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of a second sub-key cap provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of the location of a tendon sheath provided in an embodiment of the present application;

[0041] Fig. 9 A schematic diagram of a tendon sheath provided in an embodiment of the present application;

[0042] Fig.10 A schematic diagram of the degrees of freedom of a bionic manipulator provided in an embodiment of the present application;

[0043] Fig.11 A schematic diagram of the structure of a base provided in an embodiment of the present application;

[0044] Fig.12 A schematic diagram of the connection of three PE wires on the palm side of a finger provided in an embodiment of the present application;

[0045] Fig.13 A side view of a steering wheel design provided in an embodiment of the present application;

[0046] Fig.14 A composition diagram of a bionic manipulator control system provided in an embodiment of the present application;

[0047] Fig.15 A scatter plot of the spatial trajectories of the motion of each joint of a finger provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Lightweight and miniaturized bionic manipulators are an important development direction of prosthetic technology. The goal is to use sophisticated design and advanced technology to make bionic manipulators have both high performance and improved wearing comfort. Traditional bionic manipulators are bulky and heavy, which often cause discomfort to users, especially when worn for a long time, which can easily affect operational flexibility. The lightweight and miniaturized design makes the bionic hand more ergonomic, easy to wear and use, greatly improving the daily applicability and comfort of the bionic hand.

[0050] At present, there is a serious polarization among intelligent bionic manipulators. High-end bionic hands have high technical content and strong applicability, but they are expensive. Although ordinary bionic hand products are cheap, their functions are too single and the cost performance is low. Bionic manipulators in related technologies usually use drivers to act as joints of bionic fingers, which not only causes the overall weight, volume and control difficulty of the manipulator, but also leads to limited freedom of bionic fingers and insufficient anthropomorphism of motion trajectory, as well as the problem of ensuring durability of bionic hands under high bionics and light weight. However, the current high-biomimetic manipulators have limited freedom. Traditional manipulators use one driver to control one motion point. A single finger has three motion points, which requires three drivers, resulting in a large number of drivers and a huge volume and weight.

[0051] In view of the technical problems existing in the above-mentioned related technologies, the embodiment of the present application provides a bionic manipulator, which integrates the characteristics of high degree of freedom, high bionics, low weight, and low volume. Figure 1 , Figure 1 The schematic diagram of the appearance of a bionic manipulator provided in an embodiment of the present application. The bionic manipulator comprises: a bionic finger, a driver and a controller.

[0052] The bionic finger includes a bionic skeleton and a bionic soft tissue; the bionic skeleton includes a metacarpal bone and a phalange; a metacarpophalangeal joint is formed between the metacarpal bone and the phalange, and an interphalangeal joint is formed between the phalanges; the metacarpophalangeal joint is a joint with a ball-and-socket structure. This embodiment uses a bionic soft tissue structure designed with soft materials to replace the traditional driver joint, which reduces the overall weight of the bionic hand and improves dexterity. By processing the metacarpophalangeal joint into a ball-and-socket structure, it can be ensured that the finger can achieve flexion and extension and adduction and abduction movements.

[0053] In order to better preserve the important surface features of bones and joints, the above bionic bones can be a human hand bone model made by 3D printing technology, see Figure 2 , Figure 2 A schematic diagram of the appearance of a bionic finger provided in an embodiment of the present application, wherein the bionic skeleton in a single bionic finger includes a metacarpal bone (i.e., bionic metacarpal bone) 201, a proximal phalanx (i.e., bionic proximal phalanx) 202, a middle phalanx (i.e., bionic middle phalanx) 203, and a distal phalanx (i.e., bionic distal phalanx) 204. The metacarpal bone and the proximal phalanx form a metacarpophalangeal joint MCP, the proximal phalanx and the middle phalanx form a proximal interphalangeal joint PIP, and the middle phalanx and the distal phalanx form a distal interphalangeal joint DIP.

[0054] In this embodiment, each bionic finger may be provided with a metacarpal bone, a proximal phalanx, a middle phalanx, and a distal phalanx. In addition, in this embodiment, each bionic finger except the thumb may be provided with a metacarpal bone, a proximal phalanx, a middle phalanx, and a distal phalanx, and the bionic finger corresponding to the thumb may be provided with a metacarpal bone, a proximal phalanx, and a distal phalanx; in the thumb, the metacarpal bone and the proximal phalanx form a metacarpophalangeal joint, and the proximal phalanx and the distal phalanx form an interphalangeal joint.

[0055] Lightweight design has become an important direction for the development of manipulators. Lightweight can be achieved by using new materials (such as carbon fiber, 3D printing) and optimizing structural design. At the same time, it is also necessary to consider reducing the volume to maintain operational flexibility, durability and control accuracy. Therefore, the bionic soft tissue in this embodiment can be a human hand soft tissue model made of soft materials (such as polyethylene, silicone, etc.).

[0056] The bionic soft tissue includes artificial ligaments, metacarpophalangeal ligaments (i.e., bionic metacarpophalangeal ligaments), extensor tendon bonnets (i.e., bionic extensor tendon bonnets), extensor tendons (i.e., bionic extensor tendons), tendon sheaths (i.e., bionic tendon sheaths) and flexor tendons (i.e., bionic flexor tendons) made of soft materials. The main reason for the stiff movement of current bionic manipulators is that drivers are used to act as finger joints. This embodiment uses soft materials to simulate the biological soft tissue structure of fingers (such as collateral ligaments, extensor tendon bonnets, extensor tendons, tendon sheaths, flexor tendons, etc.), thereby improving the dexterity of the bionic manipulator. This embodiment restores the movement mechanism of the human hand to the greatest extent by using soft materials to restore the collateral ligaments, extensor tendon bonnets, and tendon sheaths of the human hand. Drivers are no longer used to act as joints. The bionic manipulator moves naturally and is no longer a rigid mechanical movement, and the bionics is improved.

[0057] The collateral ligament is a ligament located on both sides of the interphalangeal joint, and its function is to limit the range of motion of the finger and prevent abnormal lateral bending of the joint. This embodiment uses an M-shaped structure to realize this artificial ligament, that is, the metacarpophalangeal ligament and the artificial ligament are used to simulate the function of the collateral ligament. The above-mentioned metacarpophalangeal ligament is a silicone material cut into an M-shaped bionic ligament, and the above-mentioned artificial ligament is an M-shaped bionic ligament crocheted with polyethylene thread (i.e., PE thread). The artificial ligament is arranged on the palm side of the finger of the interphalangeal joint, and the metacarpophalangeal ligament is arranged on the palm side of the finger of the metacarpophalangeal joint.

[0058] In a feasible implementation, the phalanges of a single bionic finger may include a proximal phalanx, a middle phalanx, and a distal phalanx; the proximal phalanx and the middle phalanx form a proximal interphalangeal joint, and the middle phalanx and the distal phalanx form a distal interphalangeal joint. In the above case, the artificial ligament includes a first artificial ligament arranged at the distal interphalangeal joint, and a second artificial ligament arranged at the proximal interphalangeal joint; the first artificial ligament and the second artificial ligament are M-shaped bionic ligaments made of polyethylene wire, and the metacarpophalangeal ligament is an M-shaped bionic ligament made of silicone material.

[0059] See also Figure 3 , Figure 3 This is a schematic diagram of the location of an artificial ligament and a metacarpophalangeal ligament provided in an embodiment of the present application. Figure 3 The image is of the palm side (i.e., the finger pulp side) of the bionic finger. The first artificial ligament 301 is arranged at the distal interphalangeal joint DIP, the second artificial ligament 302 is arranged at the proximal interphalangeal joint PIP, and the metacarpophalangeal ligament 303 is arranged at the metacarpophalangeal joint MCP. The circles in the figure indicate the attachment points (i.e., the fixed positions) of the first artificial ligament, the second artificial ligament, and the metacarpophalangeal ligament. Please refer to Figure 4 , Figure 4 A schematic diagram of a metacarpophalangeal ligament provided in an embodiment of the present application.

[0060] As a feasible implementation manner, the first artificial ligament and the second artificial ligament are M-shaped bionic ligaments made of polyethylene wire, and the metacarpophalangeal ligament is an M-shaped bionic ligament made of silicone material.

[0061] Specifically, the collateral ligament in the bionic manipulator consists of the following two parts:

[0062] (1) Artificial ligaments woven with PE wire are used to limit the range of motion of the distal interphalangeal joint (DIP) and the proximal interphalangeal joint (PIP);

[0063] (2) A soft structure cut from silicone material to simulate the metacarpophalangeal ligament.

[0064] like Figure 3 As shown, in this embodiment, the first artificial ligament, the second artificial ligament and the metacarpophalangeal ligament have 15 attachment points distributed on the palm side of the finger and both sides of the phalanges. In this embodiment, holes can be drilled at the above attachment points, and the artificial ligament and the metacarpophalangeal ligament can be tightened and fixed with self-tapping screws.

[0065] Specifically, the metacarpal bone has an attachment point on each side of the distal 2 / 3 of the finger end, and an attachment point in the center of the palmar 2 / 3 of the distal finger end; the proximal phalanx has four protrusions on the upper and lower sides, each protrusion is an attachment point, and there is an attachment point in the center of the palmar 2 / 3 of the distal finger end; the middle phalanx also has four protrusions on the upper and lower sides, each protrusion is an attachment point, and there is an attachment point in the center of the palmar 2 / 3 of the distal finger end; the distal phalanx has an attachment point on each side below.

[0066] The extensor tendon bonnet is a thin and complex mesh structure, mainly composed of collagen, which is directly wrapped around the back of the finger. This mesh structure can continuously adjust the joint torque when the finger is flexed and extended. In this embodiment, the extensor tendon bonnet is arranged on the dorsal side of the bionic finger (i.e., the dorsal side of the finger), the extensor tendon passes through the extensor tendon bonnet, and the extensor tendon is respectively connected to the dorsal side of the phalanx and the driver; the driver can realize the flexion and extension of the finger by dragging the extensor tendon.

[0067] The tendon sheath is a fibrous tissue wrapped around the flexor tendon, and has multiple insertion points on the dorsal side of the phalanges. Its function is to help transmit the force generated by the muscles to the phalanges when the fingers move, so as to achieve flexion and extension of the fingers. In this embodiment, the tendon sheath is arranged on the palm side of the phalanges and the metacarpal bones, the flexor tendons pass through the tendon sheath, and the flexor tendons are respectively connected to the phalanges and the driver; the driver can achieve flexion and extension of the fingers by dragging the flexor tendons.

[0068] The controller is used to control the driver to drag the extensor tendon and / or the flexor tendon so that the bionic finger performs flexion and extension movements.

[0069] Compared with the traditional manipulator, this embodiment restores the bone and ligament tissue structure of the human hand based on the hand anatomical model to imitate the complex movement functions of the human hand, thereby achieving efficient and flexible motion control, ensuring that the manipulator's movement dexterity and naturalness are close to that of the human hand. Unlike the complex structure of the traditional manipulator, which has a driver at each movement point, the bionic finger of this embodiment adopts the structure of bionic bones and bionic soft tissues, and realizes the flexion and extension movement of the bionic finger by controlling the driver to drag the extensor tendon and flexor tendon. It can be seen that the bionic manipulator provided by this embodiment reduces the number of drivers, can use a small number of drivers to achieve control of multiple degrees of freedom, and reduces the weight and structural complexity of the bionic manipulator.

[0070] As a further introduction to the above embodiment, in the case where the bionic finger includes a metacarpal bone, a proximal phalanx, a middle phalanx and a distal phalanx, the extensor tendon bonnet includes a first sub-tendon bonnet and a second sub-keycap, the first sub-tendon bonnet wraps the back of the middle phalanx and is attached to the distal interphalangeal joint and the proximal interphalangeal joint; the second sub-keycap wraps the back of the proximal phalanx and is attached to the metacarpal bone, the first sub-tendon bonnet is close to the second sub-keycap and is arranged on the upper layer of the second sub-keycap. The above extensor tendon can be a bionic tendon made of polyethylene wire, the extensor tendon passes through the first sub-tendon bonnet and the second sub-keycap, and the extensor tendon is connected to the distal phalanx and the driver respectively.

[0071] In the case where the bionic finger includes a metacarpal bone, a proximal phalanx and a distal phalanx, the extensor tendon bonnet wraps around the dorsum of the proximal phalanx and is attached to the metacarpal bone and the interphalangeal joint; the extensor tendon may be a bionic tendon made of polyethylene wire, the extensor tendon passes through the extensor tendon bonnet, and the extensor tendon is respectively connected to the distal phalanx and the driver. The extensor tendon provides tension, and the extensor tendon bonnet transmits the tension to the end of the phalanx.

[0072] See also Figure 5 , Figure 5 A schematic diagram of the location of the extensor tendon bonnet provided in an embodiment of the present application shows the distal interphalangeal joint DIP, the proximal interphalangeal joint PIP and the metacarpophalangeal joint MCP. Figure 5 This is an image of the dorsal side of the bionic finger. It also shows the attachment of the middle phalanx to the palm side of the finger and the extensor tendon. The circle in the figure indicates the attachment point of the extensor tendon cap. The vertical line in the middle of the finger is the extensor tendon simulated by the PE line.

[0073] The extensor tendon bonnet is divided into two layers, the first sub-bonnet and the second sub-bonnet. The first sub-bonnet has an attachment point at the bottom of the distal interphalangeal joint DIP and is divided into two small ligaments on the PIP. The second sub-bonnet has an attachment point at the bottom of the proximal interphalangeal joint PIP. In this embodiment, a silicone gasket can be cut into corresponding shapes to obtain the first sub-bonnet and the second sub-bonnet, and attached to the above-mentioned points to imitate the passive behavior of the part and improve the grasping quality.

[0074] See also Figure 6 and Figure 7 , Figure 6 A schematic diagram of a first sub-tendon cap provided in an embodiment of the present application, Figure 7 A schematic diagram of a second sub-key cap provided in an embodiment of the present application.

[0075] In this embodiment, the extensor tendon cap is divided into two layers, the distal end is attached to the upper back of the finger, the proximal end is attached to the lower back of the finger, and there are two attachment points on the palm side of the finger. Specifically, Figure 5There are the following attachment points: one attachment point in the center of each side of the metacarpal bone, and one attachment point in the center of the back of the finger; the proximal phalanx has two symmetrical attachment points in the palm side 3 / 4 of the distal finger end; the distal phalanx has one attachment point in the center 1 / 3 of the back of the finger proximal to the finger end.

[0076] In this embodiment, a hole can be drilled at the above-mentioned attachment point, and the extensor tendon cap can be tightened and fixed using a self-tapping screw.

[0077] Furthermore, the drive in the bionic manipulator includes a first servo and a first steering wheel, wherein the first steering wheel is mounted on the first servo; one end of the extensor tendon is wrapped around the first steering wheel, and the other end of the extensor tendon is fixed to the distal phalanx; the first steering wheel is used to tighten or relax the extensor tendon when rotating with the first servo.

[0078] As a further introduction to the above embodiment, in the case where the bionic finger includes a metacarpal bone, a proximal phalanx, a middle phalanx and a distal phalanx, the tendon sheath includes a first tendon sheath, a second tendon sheath and a third tendon sheath, the first tendon sheath is arranged on the palm side of the middle phalanx, the second tendon sheath is arranged on the palm side of the proximal phalanx, and the third tendon sheath is arranged on the palm side of the metacarpal bone; the above tendon sheath can be a bionic tendon sheath in an "I" shape cut from a silicone pad, the flexor tendon passes through the tendon sheath, and when the finger is bent, the tendon sheath bulges to transmit the flexion force to the next joint. Please refer to Figure 8 , Figure 8 A schematic diagram of the location of a tendon sheath provided in an embodiment of the present application shows a distal interphalangeal joint DIP, a proximal interphalangeal joint PIP, and a metacarpophalangeal joint MCP. 801 represents a first tendon sheath, 802 represents a second tendon sheath, and 803 represents a third tendon sheath. Figure 8 It is an image of the palm side of the bionic finger (i.e. the side of the fingertip). The circles in the figure represent the attachment points of the first tendon sheath, the second tendon sheath and the third tendon sheath. The middle vertical line is the flexor tendon simulated by the PE line, and the circle through which the middle vertical line passes is the insertion position of the PE line. The PE line end passing through all the tendon sheath holes in the path is fixed on the servo, and the other end is fixed at 2 / 3 of the distal finger end on the dorsal side of the distal phalanx. It can be seen that the above-mentioned tendon sheath includes tendon sheaths attached to the metacarpal bone, the proximal phalanx, and the middle phalanx. The attachment points of the above-mentioned first tendon sheath, the second tendon sheath and the third tendon sheath are all on both sides of the metacarpal bone, the proximal phalanx, the middle phalanx, the distal 1 / 4 of the finger end and the proximal 1 / 4 of the finger end. There are 4 insertion points for each phalanx, for a total of 12 insertion points. In this embodiment, holes can be drilled at the above-mentioned attachment points, and the first tendon sheath, the second tendon sheath and the third tendon sheath can be tightened and fixed with self-tapping screws.

[0079] See also Fig. 9 , Fig. 9This is a schematic diagram of a tendon sheath provided in an embodiment of the present application. In this embodiment, tendon sheaths of corresponding sizes can be set at different positions.

[0080] The flexor tendon comprises a first sub-flexor tendon, a second sub-flexor tendon and a third sub-flexor tendon, and the first sub-flexor tendon, the second sub-flexor tendon and the third sub-flexor tendon are all bionic tendons made of polyethylene wire.

[0081] The first sub-flexor tendon passes through the first tendon sheath, the second tendon sheath and the third tendon sheath, and the first sub-flexor tendon is connected to the distal phalanx and the driver respectively;

[0082] The second sub-flexor tendon passes through the second tendon sheath and the third tendon sheath, and the second sub-flexor tendon is connected to the middle phalanx and the driver respectively;

[0083] The third sub-flexor tendon passes through the third tendon sheath, and the second sub-flexor tendon is connected to the proximal phalanx and the driver, respectively.

[0084] On the basis of the above scheme, the driver of the bionic manipulator includes a second steering gear and a second steering wheel, the second steering wheel is installed on the second steering gear, the second steering wheel includes a first sub-steering wheel, a second sub-steering wheel and a third sub-steering wheel, and the rotation centers of the first sub-steering wheel, the second sub-steering wheel and the third sub-steering wheel are on the same straight line. When the second steering gear rotates, the first sub-steering wheel, the second sub-steering wheel and the third sub-steering wheel rotate synchronously at the same angular velocity, and the rotation centers are on the same straight line. This embodiment uses a single driver to control three movement points of the finger, and the coordinated movement is good, which reduces the use of the driver and reduces the volume and weight of the bionic manipulator. Under the condition of meeting the drive requirements, by using lightweight materials, selecting small drivers, and optimizing the structural design, the weight of the bionic manipulator is greatly reduced, reducing the user's usage burden.

[0085] One end of the first sub-flexor tendon is wound around the first sub-steering disc, and the other end of the first sub-flexor tendon is fixed to the distal phalanx, and the first sub-steering disc is used to tighten or loosen the first sub-flexor tendon when rotating with the second steering gear;

[0086] One end of the second sub-flexor tendon is wound around the second sub-steering disc, and the other end of the second sub-flexor tendon is fixed to the middle phalanx, and the second sub-steering disc is used to tighten or loosen the second sub-flexor tendon when rotating with the second steering gear;

[0087] One end of the third sub-flexor tendon is wrapped around the third sub-steering disc, and the other end of the third sub-flexor tendon is fixed to the proximal phalanx. The third sub-steering disc is used to tighten or loosen the third sub-flexor tendon when rotating with the second steering gear.

[0088] In the case where the bionic finger includes a metacarpal bone, a proximal phalanx and a distal phalanx, the tendon sheath includes the first tendon sheath and the third tendon sheath. The driver of the bionic manipulator includes a second steering gear and a second steering disc, the second steering disc is mounted on the second steering gear, the second steering disc includes the first sub-steering disc and the third sub-steering disc, and the flexor tendon includes the first sub-flexor tendon and the third sub-flexor tendon.

[0089] As a further introduction to the above embodiment, the bionic manipulator also includes a Bluetooth module connected to the controller, and the Bluetooth module is used to transmit the electromyographic signal sent by the myoelectric armband to the controller, so that the controller controls the driver to drag the extensor tendon and / or the flexor tendon according to the electromyographic signal; wherein the myoelectric armband is worn on the user's arm.

[0090] See also Fig.10 , Fig.10 A schematic diagram of the degrees of freedom of a bionic manipulator provided in an embodiment of the present application, Fig.10 The degrees of freedom of the bionic manipulator are shown, and the bionic manipulator has 17 degrees of freedom. Each finger has three degrees of freedom for flexion and extension, the thumb has an additional degree of freedom for side swing, and there is a passive degree of freedom for adduction and abduction between the fingers. The bionic manipulator has 17 degrees of freedom and can complete 30 daily gestures and grasp daily objects. At the same time, the selection of silicone material of appropriate thickness to simulate the biological soft tissue of the human hand not only ensures the dexterity of the manipulator but also improves its durability, and the repeatability of the action is high.

[0091] The above-mentioned bionic manipulator may also include a base for placing a servo, see Fig.11 , Fig.11 This is a schematic diagram of the structure of a base provided in an embodiment of the present application. A three-layer servo placement area may be provided in the base, with four servos placed on the third layer and three servos placed on each of the remaining two layers.

[0092] See also Fig.12 , Fig.12A schematic diagram of the connection of three PE wires on the palm side of a finger provided in an embodiment of the present application, wherein the PE wire may have an insertion point at the fingertip, the DIP joint, and the PIP joint. The figure shows the connection point of the first PE wire, the connection point of the second PE wire, and the connection point of the third PE wire. The first PE wire is the first subflexor tendon, the second PE wire is the second subflexor tendon, and the third PE wire is the third subflexor tendon. The connection point of the first PE wire (i.e., the first movement point) is located at the distal phalanx, the connection point of the second PE wire (i.e., the second movement point) is located at the middle phalanx, and the connection point of the third PE wire (i.e., the third movement point) is located at the proximal phalanx. The channels of the first PE wire, the second PE wire, and the third PE wire are consistent, and merge into one at the lower side of the metacarpal joint. The palm side and the dorsal side of each finger are connected to a servo by a PE wire.

[0093] This embodiment provides a three-layer steering wheel design concept, each layer has a different shape and circumference to match different linear speeds. Fig.13 , Fig.13 A side view of a steering wheel design provided in an embodiment of the present application. Fig.13 The steering wheel in the figure is the second steering wheel mentioned above, which includes the first sub-steering wheel, the second sub-steering wheel and the third sub-steering wheel. The figure shows the first PE line, the second PE line and the third PE line. The steering wheel is divided into three layers, each layer has a different shape and circumference. The layered view includes the shapes of the first sub-steering wheel, the second sub-steering wheel and the third sub-steering wheel.

[0094] The first movement point of the finger is located at the distal phalanx, the second movement point of the finger is located at the middle phalanx, and the third movement point of the finger is located at the proximal phalanx. In order to match the trajectories of the second and third movement points of the finger, the second and third steering wheels are designed with corresponding irregular shapes according to the trajectories. The trajectory of the first movement point is relatively simple and is affected by the first two movement points, so it is designed to be circular, and only the flexion and extension of the terminal phalanx need to be controlled. In this embodiment, the length of the trajectory route can be obtained by image capture of human hand experiments, corresponding to the length of the PE line required for the flexion and extension of each movement point.

[0095] The bionic manipulator provided in this embodiment reduces the overall weight of the bionic manipulator by selecting the palm material, bionic soft tissue material, base material and driver. The compact base structure is designed to optimize the hand structure to achieve the purpose of miniaturization of the bionic manipulator. This embodiment uses soft materials to simulate the physiological tissue of the hand to enhance the dexterity of the bionic hand to ensure the natural and high degree of freedom of the manipulator's movement, thereby further reducing the weight of the bionic hand and ensuring the durability of the soft tissue structure. The steering wheel is designed to be three-layered to correspond to the three movement points of the fingers, so that the control of different points can be achieved using a single driver, thereby improving the dexterity of the bionic manipulator.

[0096] This embodiment provides a lightweight and miniaturized bionic manipulator, combined with an intelligent control system, to achieve efficient and flexible hand movements. While ensuring high bionics (bionic soft tissue structure) and high degrees of freedom, the overall weight and volume are reduced by optimizing the structure and drive mode, and the wearability and user experience of the bionic hand are improved. At the same time, intelligent control methods such as electromyography are used to achieve precise operation, enhance the practicality and adaptability of the bionic hand, and meet the needs of multiple fields such as rehabilitation medicine and industrial automation.

[0097] The simulation and precise control of complex hand movements still require more advanced technical support, especially in terms of gripping force regulation and flexibility. Based on this, a control method for a bionic manipulator is provided in an embodiment of the present application, which is applied to any controller of the above-mentioned bionic manipulator. The control method for the bionic manipulator includes:

[0098] Receiving an electromyographic signal transmitted by the myoelectric arm ring, and determining a target posture of the bionic manipulator according to the electromyographic signal;

[0099] A control instruction is sent to a corresponding driver according to the target posture, so that the bionic finger performs flexion and extension movement and reaches the target posture.

[0100] Since the embodiments of the method part correspond to the embodiments of the device part, please refer to the description of the embodiments of the device part for the embodiments of the method part, which will not be repeated here.

[0101] Furthermore, in the control part of the bionic manipulator, this embodiment optimizes the driving part, simplifies the design of the servo base, and designs a three-layer steering wheel to realize a single drive to control three motion points to reduce the size and weight of the servo, while ensuring the high degree of freedom of the manipulator.

[0102] In this embodiment, a motor can be used to pull the PE wire to act as the extensor tendon and flexor tendon of the bionic manipulator, thereby serving as a power source for bending and straightening the fingers. The compact structural design of the bionic manipulator enables the servo to be effectively integrated in the bionic hand with limited space, and the weight meets the requirements of lightweight design. In this embodiment, a microcontroller can be used to control ten servos to realize the movement of the bionic hand.

[0103] The function of the base is to place the bionic manipulator driver. Based on the design requirements of this embodiment, the base should be designed to be as compact as possible and the material used should be lighter, so the base can be 3D printed with resin material, and ten servos can be fixed on the base; this solution can establish a mapping relationship between the servo pull-release line and the finger position, and each pair of servos controls the flexion and extension of a finger. For the driver sub-steering wheel that controls the flexion movement, a new three-layer design is adopted, which can be used to fix three strands of PE wire to realize the coordinated movement of the three movement points of the finger. The shape and circumference of the three-layer steering wheel are different to match different linear speeds to realize the control of the three movement points. The driver that controls the extension movement is a single-layer design.

[0104] This embodiment can assemble the manufactured robotic palm and driving base, send instructions to the microcontroller through the collected electromyographic signals, and the microcontroller controls the driver to move to the specified position. The auxiliary steering plate fixed on the driver drags the PE line to pull the bionic finger to flex and extend.

[0105] See also Fig.14 , Fig.14 A composition diagram of a bionic manipulator control system provided in an embodiment of the present application, showing a bionic manipulator, a servo, a servo drive module, a power supply, a controller MCU, a Bluetooth module, an myoelectric arm ring, a serial port and a host computer. The servo can transmit the servo position information to the controller through the serial port, the controller can transmit the drive information to the servo drive module, the power supply can provide a 5V power supply signal, and the myoelectric arm ring can transmit human hand gesture information to the Bluetooth module.

[0106] The input parameter of the control system is the human hand posture information collected through gesture recognition, and the output is the posture information of each servo, so that the manipulator can achieve the corresponding posture. The processing process includes: the human hand gesture data is transmitted between the acquisition device and the controller via Bluetooth; the controller processes the gesture data and converts it into a UART signal that can be recognized by the servo drive module; the drive module controls the servo to reach the specified posture, and the servo drives the bionic hand by pulling the PE line; the servo feeds back the position information to the controller through the serial port.

[0107] See also Fig.15 , Fig.15A scatter plot of the spatial trajectory of each joint motion of a finger provided in an embodiment of the present application, X-Position represents the horizontal coordinate, Y-Position represents the vertical coordinate, Joint-1 represents the first motion point, Joint-2 represents the second motion point, and Joint-3 represents the third motion point. In this embodiment, the motion trajectory of a human hand can be compared with the motion trajectory of a robot to observe the bionic performance of its structure. The finger points are also marked and the results are presented through visualization. The above trajectories of the human hand and the robot are quantitatively analyzed by fitting the trajectory through Pearson correlation, and a fitting degree of 90% is obtained, indicating that the anthropomorphism of the robot fingers is good. In this embodiment, a single driver is used to control three motion points, which ensures high degrees of freedom and high bionics while reducing the use of the driver, thereby reducing the size and weight of the robot. In the related art, the cost of the bionic robot is high, and the use of this embodiment can balance technological innovation and production costs, which is conducive to the popularization of bionic robots.

[0108] By optimizing the soft tissue structure of the palm (model design and material selection optimization of the soft tissue structure), optimizing the servo base structure (modeling optimization of the base structure), and redesigning the drive system (selecting a driver that is as small as possible to meet the power requirements and using a more streamlined controller to optimize the circuit), the overall weight and volume of the bionic manipulator are greatly reduced; for example, the overall weight of the bionic manipulator made according to the above embodiment is only 460 grams, which improves the user experience.

[0109] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0110] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0111] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

[0112] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A bionic manipulator, characterized in that: include: Bionic fingers, actuators, and controllers; The bionic finger comprises a bionic bone and a bionic soft tissue; The bionic skeleton comprises metacarpal bones and phalanges; a metacarpophalangeal joint is formed between the metacarpal bones and the phalanges, and an interphalangeal joint is formed between the phalanges; The bionic soft tissue comprises an artificial ligament, a metacarpophalangeal ligament, an extensor tendon hood, an extensor tendon, a tendon sheath and a flexor tendon made of soft material; the artificial ligament is arranged at the interphalangeal joint, the metacarpophalangeal ligament is arranged at the metacarpophalangeal joint, the extensor tendon hood is arranged at the dorsal side of the bionic finger, the extensor tendon passes through the extensor tendon hood, and the extensor tendon is respectively connected to the phalanges and the driver; the tendon sheath is arranged at the palm side of the phalanges and the metacarpal bones, the flexor tendon passes through the tendon sheath, and the flexor tendon is respectively connected to the phalanges and the driver; The controller is used to control the driver to drag the extensor tendon and / or the flexor tendon so that the bionic finger performs flexion and extension movements.

2. The bionic manipulator according to claim 1, characterized in that: The phalanges include a proximal phalanx, a middle phalanx and a distal phalanx; the proximal phalanx and the middle phalanx form a proximal interphalangeal joint, and the middle phalanx and the distal phalanx form a distal interphalangeal joint.

3. The bionic manipulator according to claim 2, characterized in that: The artificial ligament comprises a first artificial ligament disposed at the distal interphalangeal joint, and a second artificial ligament disposed at the proximal interphalangeal joint; The first artificial ligament and the second artificial ligament are M-shaped bionic ligaments made of polyethylene wire, and the metacarpophalangeal ligament is an M-shaped bionic ligament made of silicone material.

4. The bionic manipulator according to claim 2, characterized in that: The extensor tendon bonnet includes a first sub-bonnet and a second sub-bonnet, wherein the first sub-bonnet wraps the back of the middle phalanx and is attached to the distal interphalangeal joint and the proximal interphalangeal joint; the second sub-bonnet wraps the back of the proximal phalanx and is attached to the metacarpal bone, and the first sub-bonnet is arranged on an upper layer of the second sub-bonnet; The extensor tendon is a bionic tendon made of polyethylene wire, and the extensor tendon passes through the first sub-tendon cap and the second sub-key cap.

5. The bionic manipulator according to claim 4, characterized in that: The driver comprises a first steering gear and a first steering disc, wherein the first steering disc is mounted on the first steering gear; one end of the extensor tendon is wound around the first steering disc; and the first steering disc is used for tightening or loosening the extensor tendon when rotating with the first steering gear.

6. The bionic manipulator according to claim 2, characterized in that: The flexor tendon comprises a first sub-flexor tendon, a second sub-flexor tendon and a third sub-flexor tendon, wherein the first sub-flexor tendon, the second sub-flexor tendon and the third sub-flexor tendon are all bionic tendons made of polyethylene wire; The tendon sheath comprises a first tendon sheath, a second tendon sheath and a third tendon sheath, wherein the first tendon sheath is arranged on the middle phalanx, the second tendon sheath is arranged on the proximal phalanx, and the third tendon sheath is arranged on the metacarpal bone; The first sub-flexor tendon passes through the first tendon sheath, the second tendon sheath and the third tendon sheath, and the first sub-flexor tendon is connected to the distal phalanx and the driver respectively; The second sub-flexor tendon passes through the second tendon sheath and the third tendon sheath, and the second sub-flexor tendon is connected to the middle phalanx and the driver respectively; The third sub-flexor tendon passes through the third tendon sheath, and the second sub-flexor tendon is connected to the proximal phalanx and the driver, respectively.

7. The bionic manipulator according to claim 6, characterized in that: The driver comprises a second steering gear and a second steering disc, the second steering disc is mounted on the second steering gear, the second steering disc comprises a first sub-steering disc, a second sub-steering disc and a third sub-steering disc, and the rotation centers of the first sub-steering disc, the second sub-steering disc and the third sub-steering disc are on the same straight line; One end of the first sub-flexor tendon is wound around the first sub-steering disc, and the first sub-steering disc is used to tighten or loosen the first sub-flexor tendon when rotating with the second steering gear; One end of the second sub-flexor tendon is wound around the second sub-steering disc, and the second sub-steering disc is used to tighten or loosen the second sub-flexor tendon when rotating with the second steering gear; One end of the third sub-flexor tendon is wound around the third sub-steering disc, and the third sub-steering disc is used to tighten or loosen the third sub-flexor tendon when rotating with the second steering gear.

8. The bionic manipulator according to claim 1, characterized in that: The bionic manipulator also includes a Bluetooth module connected to the controller, and the Bluetooth module is used to transmit the electromyographic signal sent by the myoelectric armband to the controller, so that the controller controls the driver to drag the extensor tendon and / or the flexor tendon according to the electromyographic signal; wherein the myoelectric armband is worn on the user's arm.

9. The bionic manipulator according to claim 1, characterized in that: The metacarpophalangeal joint is a joint with a ball-and-socket structure.

10. A control method for a bionic manipulator, characterized in that: A controller for a bionic manipulator according to any one of claims 1 to 9, wherein the control method of the bionic manipulator comprises: Receiving an electromyographic signal transmitted by the myoelectric arm ring, and determining a target posture of the bionic manipulator according to the electromyographic signal; A control instruction is sent to a corresponding driver according to the target posture, so that the bionic finger performs flexion and extension movement and reaches the target posture.

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