Bionic manipulator and control method of bionic manipulator

Abstract

The application discloses a bionic manipulator and a control method of the bionic manipulator, and belongs to the technical field of manipulators. The bionic manipulator comprises a bionic finger, a driver and a controller. The bionic finger comprises a bionic skeleton and bionic soft tissue. The bionic skeleton comprises metacarpal bones and phalangeal bones. Metacarpophalangeal joints are formed between the metacarpal bones and the phalangeal bones, and interphalangeal joints are formed between the phalangeal bones. The bionic soft tissue comprises artificial ligaments, metacarpophalangeal ligaments, extensor tendon caps, extensor tendons, tendon sheaths and flexor tendons which are made of soft materials. The controller is used for controlling the driver to drag the extensor tendons and / or the flexor tendons, so that the bionic finger performs flexion and extension movement. The application can realize control of multiple degrees of freedom by using a small amount of drivers, and reduces the weight and structural complexity of the bionic manipulator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to a bionic mechanical hand and a control method of the bionic mechanical hand. BACKGROUND

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

[0003] Current bionic mechanical hands usually adopt relatively complex structures and heavy materials, but in some specific application scenarios, such as wearable rehabilitation devices or exoskeleton robots, such a large weight will increase the burden of the user and affect the comfort of long-term use.

[0004] Therefore, how to use a small number of drivers to control multiple degrees of freedom and reduce the weight and structural complexity of the bionic mechanical hand is a technical problem that needs to be solved by those skilled in the art at present. SUMMARY

[0005] The purpose of the present application is to provide a bionic mechanical hand and a control method of the bionic mechanical hand, which can use a small number of drivers to control multiple degrees of freedom and reduce the weight and structural complexity of the bionic mechanical hand.

[0006] To solve the above technical problems, the present application provides a bionic mechanical hand, comprising: a bionic finger, a driver and a controller.

[0007] The bionic finger comprises a bionic skeleton and a bionic soft tissue.

[0008] The bionic skeleton comprises metacarpal bones and phalangeal bones; the metacarpal bones and the phalangeal bones form metacarpophalangeal joints, and the phalangeal bones form interphalangeal joints.

[0009] The bionic soft tissue comprises artificial ligaments, palmar ligaments, extensor tendon caps, extensor tendons, tendon sheaths and flexor tendons made of soft materials; the artificial ligaments are arranged at the interphalangeal joints, the palmar ligaments are arranged at the metacarpophalangeal joints, the extensor tendon caps are arranged on the dorsal side of the bionic finger, the extensor tendons pass through the extensor tendon caps, and the extensor tendons are connected with the phalangeal bones and the driver respectively; the tendon sheaths are arranged on the palmar side of the phalangeal bones and the metacarpal bones, the flexor tendons pass through the tendon sheaths, and the flexor tendons are connected with the phalangeal bones and the driver respectively.

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

[0011] Optionally, the phalangeal bone comprises a proximal phalangeal bone, a middle phalangeal bone and a distal phalangeal bone; the proximal phalangeal bone and the middle phalangeal bone form a proximal interphalangeal joint, and the middle phalangeal bone and the distal phalangeal bone form a distal interphalangeal joint.

[0012] Optionally, the artificial ligament comprises a first artificial ligament arranged at the distal interphalangeal joint and a second artificial ligament arranged at the proximal interphalangeal joint.

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

[0014] Optionally, the extensor tendon cap comprises a first sub-tendon cap and a second sub-tendon cap, the first sub-tendon cap wraps the dorsal of the middle phalangeal bone and is attached to the distal interphalangeal joint and the proximal interphalangeal joint, and the second sub-tendon cap wraps the dorsal of the proximal phalangeal bone and is attached to the metacarpal bone; the first sub-tendon cap is arranged on the upper layer of the second sub-tendon cap.

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

[0016] Optionally, the driver comprises a first steering wheel and a first steering engine, the first steering wheel is installed on the first steering engine; one end of the extensor tendon is wound around the first steering wheel; the first steering wheel is used to tighten or loosen the extensor tendon when the first steering wheel rotates with the first steering engine.

[0017] Optionally, the flexor tendon comprises a first sub-flexor tendon, a second sub-flexor tendon and a third sub-flexor tendon, the first sub-flexor tendon, the second sub-flexor tendon and the third sub-flexor tendon are all biomimetic tendons made of polyethylene wire.

[0018] The tendon sheath comprises a first tendon sheath, a second tendon sheath and a third tendon sheath, the first tendon sheath is arranged at the middle phalangeal bone, the second tendon sheath is arranged at the proximal phalangeal bone, and the third tendon sheath is arranged at 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 with the distal phalangeal bone 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 with the middle phalangeal bone and the driver respectively.

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

[0022] Optionally, the driver comprises a second steering engine and a second steering disc, the second steering disc is installed on the second steering engine, 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.

[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 engine;

[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 engine;

[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 engine.

[0026] Optionally, the bionic manipulator further comprises a Bluetooth module connected with the controller, the Bluetooth module is used to transmit the electromyographic signal sent by the electromyographic 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 electromyographic armband is worn on the arm of the user.

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

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

[0029] receiving the electromyographic signal transmitted by the electromyographic armband, and determining the target posture of the bionic manipulator according to the electromyographic signal;

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

[0031] The application provides a bionic manipulator, comprising a bionic finger, a driver and a controller; the bionic finger comprises a bionic skeleton and a bionic soft tissue, the bionic soft tissue comprises artificial ligaments, metacarpophalangeal ligaments, extensor tendon caps, extensor tendons, tendon sheaths and flexor tendons made of soft materials; the controller can drag the extensor tendons and / or the flexor tendons through the driver to realize the flexion and extension movement of the bionic finger. Unlike the complex structure of the traditional manipulator in which one driver is arranged at each movement point, the bionic finger of the application adopts the structure of the bionic skeleton and the bionic soft tissue, and realizes the flexion and extension movement of the bionic finger by controlling the driver to drag the extensor tendons and the flexor tendons. It can be seen that the bionic manipulator provided by the application reduces the number of drivers, can realize the control of multiple degrees of freedom with a small number of drivers, and reduces the weight and structural complexity of the bionic manipulator. The application also provides a control method of the bionic manipulator, which has the above beneficial effects, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0033] Figure 1 An appearance schematic diagram of a bionic manipulator provided by an embodiment of the application;

[0034] Figure 2 An appearance schematic diagram of a bionic finger provided by an embodiment of the application;

[0035] Figure 3 A schematic diagram of the setting position of an artificial ligament and a metacarpophalangeal ligament provided by an embodiment of the application;

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

[0037] Figure 5 A schematic diagram of the setting position of an extensor tendon cap provided by an embodiment of the application;

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

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

[0040] Figure 8 A schematic diagram of the setting position of a tendon sheath provided by an embodiment of the application;

[0041] Figure 9 A schematic diagram of a tendon sheath provided by an embodiment of the present application;

[0042] Figure 10 A schematic diagram of the degrees of freedom of a bionic hand provided by an embodiment of the present application;

[0043] Figure 11 A schematic diagram of the structure of a base provided by an embodiment of the present application;

[0044] Figure 12 A schematic diagram of a three-strand PE wire connection on the palmar side of a finger provided by an embodiment of the present application;

[0045] Figure 13 A design side view of a steering wheel provided by an embodiment of the present application;

[0046] Figure 14 A composition diagram of a bionic hand control system provided by an embodiment of the present application;

[0047] Figure 15 A joint movement space trajectory scatter plot of a finger provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0049] A lightweight and small-sized bionic hand is an important development direction of prosthetic technology, and its goal is to make the bionic hand have high performance and improve wearing comfort through ingenious design and advanced technology. Traditional bionic hands are often unsuitable for users due to their large size and heavy weight, especially when worn for a long time, which can easily affect operational flexibility. Lightweight and small-sized design makes the bionic hand more ergonomic, easy to wear and use, greatly improving the daily applicability and comfort of the bionic hand.

[0050] Current intelligent bionic mechanical hands are seriously polarized. High-end bionic hands have high technology content and strong applicability, but are high in price. While ordinary bionic hands are low in price, they have too single function and low cost performance. The bionic mechanical hands in the related art usually use a driver to act as a joint of a bionic finger, which not only causes an increase in the overall weight, size and control difficulty of the mechanical hand, but also leads to a limitation of the degree of freedom of the bionic finger, a non-personalized motion trajectory, and a problem of guaranteeing the durability of the bionic hand in the case of high bionics and light weight. While the current mechanical hand with high bionics has a limited degree of freedom, the traditional mechanical hand uses one driver to control one motion point, and three drivers are needed for a single finger with three motion points, which leads to a large number of drivers, a large size and weight.

[0051] In view of the technical problems in the related art described above, the embodiments of the present application provide a bionic mechanical hand which integrates the characteristics of high degree of freedom, high bionics, low weight and low size. Please see the following Figure 1 , Figure 1 for the appearance schematic diagram of the bionic mechanical hand provided by the embodiments of the present application. The bionic mechanical hand comprises a bionic finger, a driver and a controller.

[0052] The bionic finger comprises a bionic skeleton and a bionic soft tissue; the bionic skeleton comprises metacarpal bones and phalangeal bones; the metacarpal bones and the phalangeal bones form metacarpophalangeal joints, and the phalangeal bones form interphalangeal joints; the metacarpophalangeal joints are ball-and-socket structure joints. The bionic soft tissue structure designed by using soft material is used to replace the traditional driver joint in this embodiment, which reduces the overall weight of the bionic hand and improves the dexterity. By processing the metacarpophalangeal joints into ball-and-socket structure, it can be ensured that the fingers can realize flexion and extension movement and adduction and abduction movement.

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

[0054] The embodiment can be provided with metacarpal bones, proximal phalangeal bones, middle phalangeal bones and distal phalangeal bones for each bionic finger. In addition, the embodiment can be provided with metacarpal bones, proximal phalangeal bones, middle phalangeal bones and distal phalangeal bones for each bionic finger except the thumb, and metacarpal bones, proximal phalangeal bones and distal phalangeal bones for the bionic finger corresponding to the thumb; in the thumb, the metacarpal bones and the proximal phalangeal bones form the metacarpophalangeal joint, and the proximal phalangeal bones and the distal phalangeal bones form the interphalangeal joint.

[0055] Lightweight design is an important direction for the development of the mechanical hand. Lightweight can be achieved by using new materials (such as carbon fiber, 3D printing) and optimizing the structure design, while it is also necessary to consider reducing the volume to maintain the flexibility, durability and control accuracy of the operation. Therefore, the bionic soft tissue in the embodiment can be a human hand soft tissue model made of soft material (such as polyethylene, silica gel, etc.).

[0056] The bionic soft tissue includes artificial ligaments, metacarpophalangeal ligaments (i.e., bionic metacarpophalangeal ligaments), extensor tendon caps (i.e., bionic extensor tendon caps), 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 material. The main reason for the stiff movement of the current bionic mechanical hand is that the driver is used as the joint of the finger. The embodiment uses soft material to simulate the biological soft tissue structure of the finger (such as collateral ligament, extensor tendon cap, extensor tendon, tendon sheath, flexor tendon, etc.), which improves the dexterity of the bionic mechanical hand. By using soft material to restore the collateral ligament, extensor tendon cap and tendon sheath of the human hand, the movement mechanism of the human hand is restored to the greatest extent. Instead of using a driver as a joint, the bionic mechanical hand moves naturally and is no longer a stiff mechanical movement, and the bionics is improved.

[0057] The collateral ligament is a ligament located on both sides of the interphalangeal joint, which functions to limit the range of motion of the finger and prevent abnormal lateral bending of the joint. The embodiment uses an M-shaped structure to realize this artificial ligament, i.e., using metacarpophalangeal ligaments and artificial ligaments to simulate the function of the collateral ligament. The metacarpophalangeal ligament is an M-shaped bionic ligament cut from silica gel material, and the artificial ligament is an M-shaped bionic ligament hooked with polyethylene wire (i.e., PE wire). The artificial ligament is arranged on the palmar side of the finger of the interphalangeal joint, and the metacarpophalangeal ligament is arranged on the palmar side of the finger of the metacarpophalangeal joint.

[0058] In an embodiment, the phalange of the bionic finger can include a proximal phalanx, a middle phalanx and a distal phalanx; the proximal phalanx forms a proximal interphalangeal joint with the middle phalanx, and the middle phalanx forms a distal interphalangeal joint with the distal phalanx. 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] Please refer to Figure 3 , Figure 3 The artificial ligament and the metacarpophalangeal ligament provided by the embodiment of the application are shown in the position setting diagram. Figure 3 The image of the palmar side (i.e. the side of the finger pulp) 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 represent 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 The schematic diagram of the metacarpophalangeal ligament provided by the embodiment of the application.

[0060] As an embodiment, 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 of the bionic mechanical hand includes the following two parts:

[0062] (1) The artificial ligament hooked by PE wire is used to limit the movement range of the distal interphalangeal joint DIP and the proximal interphalangeal joint PIP;

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

[0064] As shown in Figure 3 , the first artificial ligament, the second artificial ligament and the metacarpophalangeal ligament in the embodiment exist in 15 attachment points distributed on the palmar side of the finger and the two sides of the phalanges. The embodiment can punch holes at the above-mentioned attachment points, and use self-tapping screws to tighten and fix the artificial ligament and the metacarpophalangeal ligament.

[0065] Specifically, the metacarpal bone has one attachment point on each side at 2 / 3 of the distal end, and one attachment point at the center of the 2 / 3 of the distal end on the palm side; the proximal phalanx has four protrusions on the upper and lower sides, each of which is an attachment point, and one attachment point at the center of the 2 / 3 of the distal end on the palm side; the middle phalanx also has four protrusions on the upper and lower sides, each of which is an attachment point, and one attachment point at the center of the 2 / 3 of the distal end on the palm side; the distal phalanx has one attachment point on each side of the lower side.

[0066] The extensor tendon cap is a thin and complex network structure mainly composed of collagen and directly wrapped around the back of the finger. The network structure can continuously adjust the joint torque when the finger is flexed and extended. In the embodiment, the extensor tendon cap is arranged on the back side of the bionic finger (i.e., the dorsal side), the extensor tendon passes through the extensor tendon cap, and the extensor tendon is connected with the back side of the phalanx and the driver, respectively; the driver can realize the flexion and extension of the finger by pulling 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 phalanx. The tendon sheath helps to transmit the muscle force to the phalanx to realize the flexion and extension of the finger when the finger moves. In the embodiment, the tendon sheath is arranged on the palm side of the phalanx and the phalanx, the flexor tendon passes through the tendon sheath, and the flexor tendon is connected with the phalanx and the driver, respectively; the driver can realize the flexion and extension of the finger by pulling the flexor tendon.

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

[0069] Compared with the traditional mechanical hand, the embodiment restores the skeletal and ligament tissue structure of the human hand based on the hand anatomy model, simulates the complex movement function of the human hand, realizes efficient and flexible motion control, and ensures that the motion dexterity and naturalness of the mechanical hand are close to the human hand. Unlike the complex structure of the traditional mechanical hand in which a driver is arranged at each movement point, the bionic finger of the embodiment adopts the structure of bionic skeleton and bionic soft tissue, and realizes the flexion and extension movement of the bionic finger by controlling the driver to pull the extensor tendon and the flexor tendon. It can be seen that the bionic mechanical hand provided in the embodiment reduces the number of drivers, can control multiple degrees of freedom with a small number of drivers, and reduces the weight and structural complexity of the bionic mechanical hand.

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

[0071] In the case of the bionic finger including metacarpal, proximal phalanx and distal phalanx, the extensor tendon cap wraps the dorsal of the proximal phalanx and is attached to the metacarpal and the interphalangeal joint, and the above extensor tendon can be a bionic tendon made of polyethylene wire, the extensor tendon passes through the extensor tendon cap, and the extensor tendon is connected with the distal phalanx and the driver respectively. The extensor tendon provides tension, and the extensor tendon cap transmits the tension to the end of the phalanx.

[0072] Please refer to Figure 5 , Figure 5 The figure is a schematic diagram of the setting position of the extensor tendon cap provided by the embodiment of the present application, which shows the distal interphalangeal joint DIP, the proximal interphalangeal joint PIP and the metacarpophalangeal joint MCP, Figure 5 The figure is an image of the dorsal side of the bionic finger (i.e. the dorsal side of the finger), which also shows the attachment of the middle phalanx at the metacarpal point and the extensor tendon, and the attachment point of the extensor tendon cap is indicated by a circle in the figure. The vertical line in the middle of the finger is the extensor tendon simulated by the PE wire.

[0073] The extensor tendon cap is divided into two layers, the first sub-cap and the second sub-cap, the first sub-cap has an attachment point at the bottom of the distal interphalangeal joint DIP, and is divided into two small ligaments at the proximal interphalangeal joint PIP, and the second sub-cap has an attachment point at the bottom of the proximal interphalangeal joint PIP. In this embodiment, the first sub-cap and the second sub-cap can be obtained by cutting the silicone gasket into the corresponding shape and attaching it to the above-mentioned point, which simulates the passive behavior of this part and improves the quality of grasping.

[0074] Please refer to Figure 6 and Figure 7 , Figure 6 The figure is a schematic diagram of the first sub-cap provided by the embodiment of the present application, Figure 7 The figure is a schematic diagram of the second sub-cap provided by the embodiment of the present application.

[0075] In this embodiment, the extensor tendon cap is divided into two layers, which is attached to the dorsal side of the finger at the distal end and the dorsal side of the finger at the proximal end, and has two attachment points on the metacarpal side. Specifically, Figure 5The following attachment points exist: there is one attachment point at the center of each side of the metacarpal bone, and one attachment point at the center of the dorsal side of the finger; the proximal phalanx has two symmetrical attachment points at the distal 3 / 4 of the palmar side; the distal phalanx has one attachment point at the center 1 / 3 of the dorsal side of the proximal finger.

[0076] In this embodiment, holes can be drilled at the above attachment points, and self-tapping screws can be used to tighten and fix the extensor tendon cap.

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

[0078] As a further description of the above embodiments, when the bionic finger includes metacarpals, proximal phalanges, middle phalanges, and distal phalanges, the tendon sheath includes a first tendon sheath, a second tendon sheath, and a third tendon sheath. The first tendon sheath is located on the palmar side of the middle phalanx, the second tendon sheath is located on the palmar side of the proximal phalanx, and the third tendon sheath is located on the palmar side of the metacarpals. The tendon sheath can be a bionic tendon sheath cut into an "I" shape using a silicone pad. The flexor tendon passes through the tendon sheath, and when the finger flexes, the tendon sheath bulges to transmit the flexion force to the next joint. Please refer to [link to previous text]. Figure 8 , Figure 8 This is a schematic diagram illustrating the location of a tendon sheath provided in an embodiment of this application. The diagram shows the distal interphalangeal joint (DIP), the proximal interphalangeal joint (PIP), and the metacarpophalangeal joint (MCP). 801 represents the first tendon sheath, 802 represents the second tendon sheath, and 803 represents the third tendon sheath. Figure 8 This is an image of the palmar side (i.e., the fingertip side) of a bionic finger. Circles in the image indicate the attachment points of the first, second, and third tendon sheaths. The vertical line in the middle represents the flexor tendon simulated by the PE line, and the circles through which the vertical line passes indicate the PE line's insertion points. The PE line ends through all tendon sheath holes along the path are fixed to the servo motor, and the other end is fixed to the distal 2 / 3 of the distal phalanx on the dorsal side of the distal phalanx. It can be seen that the aforementioned tendon sheaths include those attached to the metacarpals, proximal phalanges, and middle phalanges. The attachment points of the first, second, and third tendon sheaths are located on both sides, distal 1 / 4, and proximal 1 / 4 of the metacarpals, proximal phalanges, and middle phalanges, respectively. There are four insertion points for each phalanx, for a total of 12 insertion points. In this embodiment, holes can be drilled at the attachment points, and self-tapping screws can be used to tighten and fix the first, second, and third tendon sheaths.

[0079] Please see Figure 9 , Figure 9A schematic diagram of a tendon sheath is provided in the embodiments of the present application, and the tendon sheaths of different sizes can be arranged at different positions.

[0080] The flexor tendon includes a first sub-flexor tendon, a second sub-flexor tendon and a third sub-flexor tendon, and each of the first, second and third sub-flexor tendons is a bionic tendon made of polyethylene wire.

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

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

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

[0084] On the basis of the above-mentioned scheme, the driver of the bionic manipulator includes a second steering engine and a second steering disc, the second steering disc is installed on the second steering engine, 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, second and third sub-steering discs are on the same straight line. When the second steering engine rotates, the first, second and third sub-steering discs 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 motion points of the finger, and the cooperative motion is good, which reduces the use of the driver and the volume and weight of the bionic manipulator. By using lightweight materials, selecting small drivers and optimizing the structural design, the weight of the bionic manipulator is greatly reduced, and the use burden of the user is reduced.

[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 the second steering engine rotates;

[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 the second steering engine rotates;

[0087] One end of the third sub-flexor tendon is wound around the third sub-steering disc, and the other end of the third sub-flexor tendon is fixed to the proximal phalanx, and the third sub-steering disc is used to tighten or loosen the third sub-flexor tendon when the second steering engine rotates.

[0088] In the case that the bionic finger comprises metacarpal bone, proximal phalanx and distal phalanx, the tendon sheath comprises the first tendon sheath and the third tendon sheath. The driver of the bionic mechanical hand comprises a second steering engine and a second steering disc, the second steering disc is installed on the second steering engine, the second steering disc comprises the first sub-steering disc and the third sub-steering disc, and the flexor tendon comprises the first sub-flexor tendon and the third sub-flexor tendon.

[0089] As a further introduction to the above embodiment, the bionic mechanical hand further comprises a Bluetooth module connected with the controller, the Bluetooth module is used for transmitting the electromyographic signal sent by the electromyographic 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 electromyographic armband is worn on the arm of the user.

[0090] Please refer to Figure 10 , Figure 10 The degree of freedom of the bionic mechanical hand provided by the embodiment of the application is shown in the figure, Figure 10 The degree of freedom of the bionic mechanical hand is shown, the bionic mechanical hand has 17 degrees of freedom. Each finger has three degrees of flexion and extension, the thumb has an additional degree of side swing, and the middle finger has a passive degree of adduction and abduction. The bionic mechanical hand has 17 degrees of freedom, can complete 30 kinds of daily gestures, can complete the work of grasping daily objects, and at the same time, the selection of appropriate thickness of silicone material to simulate human biological soft tissue can ensure the dexterity of the mechanical hand and improve the durability, and the repeatability of the motion is high.

[0091] The bionic mechanical hand can further comprise a base for placing the steering engine, please refer to Figure 11 , Figure 11 The structure of the base provided by the embodiment of the application is shown in the figure, three layers of steering engine placement areas can be arranged in the base, four steering engines are placed in the third layer, and three steering engines are placed in each of the remaining two layers.

[0092] Please refer to Figure 12 , Figure 12A finger palm three-strand PE line connection diagram provided by the embodiment of the application, the PE line can have one insertion point at the fingertip, DIP joint and PIP joint. The first strand PE line connection point, the second strand PE line connection point and the third strand PE line connection point are shown in the figure. The first strand PE line is the first sub flexor tendon, the second strand PE line is the second sub flexor tendon, and the third strand PE line is the third sub flexor tendon. The first strand PE line connection point (i.e. the first movement point) is located at the distal phalanx, the second strand PE line connection point (i.e. the second movement point) is located at the middle phalanx, and the third strand PE line connection point (i.e. the third movement point) is located at the proximal phalanx. The channels of the first strand PE line, the second strand PE line and the third strand PE line are consistent, and converge into one strand at the position below the metacarpal joint. Each finger palm side and back side is connected to one steering engine by one PE line.

[0093] The embodiment provides a three-layer steering disc design idea, each layer has different shapes and different circumferences to match different line speeds. Please refer to Figure 13 , Figure 13 A steering disc design side view provided by the embodiment of the application, Figure 13 The steering disc in the figure is the above-mentioned second steering disc, which includes a first sub steering disc, a second sub steering disc and a third sub steering disc. The first strand PE line, the second strand PE line and the third strand PE line are shown in the figure. The steering disc is divided into three layers, each layer has different shapes and different circumferences. The shapes of the first sub steering disc, the second sub steering disc and the third sub steering disc are shown in the layered view.

[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. To match the trajectories of the second movement point and the third movement point of the finger, the second layer steering disc and the third layer steering disc are designed to have corresponding irregular shapes according to the trajectories. The first movement point trajectory is relatively single, and is affected by the previous two movement points, so it is designed to be circular, and only needs to control the flexion and extension of the distal phalanx. The embodiment can obtain the PE line length required for the flexion and extension of each movement point through image capture hand experiment.

[0095] The embodiment provides a bionic mechanical hand which is selected from palm material, bionic soft tissue material, base material and driver to reduce the overall weight of the bionic mechanical hand. Through a compact base structure design, the hand structure is optimized to achieve the purpose of miniaturization of the bionic mechanical hand. The embodiment uses soft material to simulate the physiological tissue of the hand to improve the dexterity of the bionic hand to ensure the natural movement and high degree of freedom of the mechanical hand, thereby further reducing the weight of the bionic hand, while ensuring the durability of the soft tissue structure. And the steering disc is designed to be three-layered to correspond to the three movement points of the fingers, realize the control of different points by using a single driver, and improve the dexterity of the bionic mechanical hand.

[0096] The embodiment provides a lightweight and small-sized bionic mechanical hand, which is combined with an intelligent control system and realizes efficient and flexible hand movement. In the case of guaranteeing high bionics (bionic soft tissue structure) and high degree of freedom, the overall weight and volume are reduced by optimizing the structure and driving mode, and the wearability and user experience of the bionic hand are improved. Meanwhile, by using intelligent control means such as electromyography, precise operation is realized, the practicability and adaptability of the bionic hand are enhanced, and the needs of multiple fields such as rehabilitation medicine and industrial automation are met.

[0097] The simulation and precise control of complex hand movement still need more advanced technical support, especially in terms of grasping force adjustment and flexibility. Therefore, the embodiment of the application provides a control method of a bionic mechanical hand, which is applied to a controller of any one of the bionic mechanical hands. The control method of the bionic mechanical hand comprises the following steps.

[0098] Receiving an electromyographic signal transmitted by an electromyographic arm ring, and determining a target posture of the bionic mechanical hand according to the electromyographic signal.

[0099] Sending a control instruction 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, the embodiments of the method part are described in the description of the embodiments of the device part, which are not described here.

[0101] Further, in the control part of the bionic mechanical hand, the embodiment optimizes the driving part, simplifies the design of the rudder base, and designs a three-layer rudder disc to realize single-driver control of three movement points, so as to reduce the volume and weight of the rudder, while guaranteeing the high degree of freedom of the mechanical hand.

[0102] In the embodiment, a motor can be used to pull PE wire to act as the extensor tendon and flexor tendon of the bionic mechanical hand, so as to serve as the power source for finger bending and straightening. The compact structure design of the bionic mechanical hand enables the rudder to be effectively integrated in the bionic hand with limited space, and the weight meets the needs of lightweight design. The embodiment can use a microcontroller to control ten rudders to realize the movement of the bionic hand.

[0103] The base is used to place the bionic mechanical hand driver. Based on the design requirements of the embodiment, the base should be designed as compact as possible and use lighter materials. Therefore, the base can be 3D printed using resin material, and ten servo motors are fixed on the base. The present scheme can establish the mapping relationship between the servo motor pull line and the finger position, and each pair of servo motors controls the flexion and extension of one finger. The driver sub-rudder for controlling the flexion motion adopts a brand-new three-layer design, which can be used to fix three PE wires to realize the coordinated motion of the three motion points of the finger. The shape and circumference of the three-layer rudder are different to match different wire speeds to realize the control of the three motion points. The driver for controlling the extension motion is a single-layer design.

[0104] The embodiment can assemble the completed mechanical hand palm and the driving base. The collected electromyographic signals are sent to the microcontroller, which controls the driver to move to the specified position. The sub-rudder fixed on the driver drags the PE wire to pull the bionic finger to perform flexion and extension motion.

[0105] Please refer to Figure 14 , Figure 14 The bionic mechanical hand control system provided by the embodiment of the present application is shown in the figure, which shows the bionic mechanical hand, the servo motor, the servo motor driving module, the power supply, the controller MCU, the Bluetooth module, the electromyographic arm ring, the serial port and the upper computer. The servo motor can transmit the servo motor position information to the controller through the serial port. The controller can transmit the driving information to the servo motor driving module. The power supply can provide a 5V power supply signal. The electromyographic arm ring can transmit the human hand gesture information to the Bluetooth module.

[0106] The input parameters of the control system are the human hand posture information collected by gesture recognition. The output is the pose information of each servo motor, so that the mechanical hand can realize the corresponding pose. The processing process includes: the human hand gesture data is transmitted between the collection device and the controller through Bluetooth; the controller processes and converts the gesture data into UART signals recognizable by the servo motor driving module; the driving module controls the servo motor to reach the specified pose, and the servo motor drives the bionic hand by pulling the PE wire; the servo motor feeds back the position information to the controller through the serial port.

[0107] Please refer to Figure 15 , Figure 15A finger joint movement space trajectory scatter plot provided by the embodiment of the application, X-Position represents the horizontal coordinate, Y-Position represents the vertical coordinate, Joint-1 represents the first movement point, Joint-2 represents the second movement point, and Joint-3 represents the third movement point. The embodiment can compare the human hand movement trajectory with the movement trajectory of the mechanical hand to observe the bionic performance in structure, mark the finger points, and present the results through visualization. The above trajectories of the human hand and the mechanical hand are fitted and quantitatively analyzed through Pearson correlation, and the fitting degree is ninety percent, which indicates that the mechanical hand finger has good humanization. The embodiment uses a single driver to control three movement points, ensures high freedom and high bionics, reduces the use of the driver, and thus reduces the volume and weight of the mechanical hand. In the related art, the bionic mechanical hand has high cost, and the use of the embodiment can balance technical innovation and production cost, which is beneficial to the popularization of the bionic mechanical hand.

[0108] Through palm soft tissue structure optimization (model design and material selection optimization of soft tissue structure), rudder base structure optimization (modeling optimization of base structure), and redesign of the driving system (selection of the smallest driver that meets the power demand and adoption of a more simplified controller optimization circuit), the overall weight and volume of the bionic mechanical hand are greatly reduced. For example, the overall weight of the bionic mechanical hand made according to the above embodiment is only 460 grams, which improves the user experience.

[0109] The application further provides a storage medium having a computer program stored thereon, and the computer program can implement the steps provided by the above embodiment when executed. The storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0110] The application further provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above embodiment when calling the computer program in the memory. Of course, the electronic device can also include various network interfaces, power supplies, and other components.

[0111] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0112] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A bionic hand, characterized in that, The application relates to a bionic finger, a driver and a controller. The bionic finger comprises a bionic skeleton and bionic soft tissue. The bionic skeleton comprises metacarpal bones and phalangeal bones; the metacarpal bones and the phalangeal bones form metacarpophalangeal joints; the phalangeal bones form interphalangeal joints. The bionic soft tissue comprises artificial ligaments, metacarpophalangeal ligaments, extensor tendon caps, extensor tendons, tendon sheaths and flexor tendons made of soft materials; the artificial ligaments are arranged at the interphalangeal joints; the metacarpophalangeal ligaments are arranged at the metacarpophalangeal joints; the extensor tendon caps are arranged at the back of the bionic finger; the extensor tendons pass through the extensor tendon caps; the extensor tendons are connected with the phalangeal bones and the driver respectively; the tendon sheaths are arranged at the palmar sides of the phalangeal bones and the metacarpal bones; the flexor tendons pass through the tendon sheaths; the flexor tendons are connected with the phalangeal bones and the driver respectively. The controller is used for controlling the driver to drive the extensor tendons and / or the flexor tendons, so that the bionic finger performs flexion and extension movements. The phalangeal bones comprise proximal phalangeal bones, middle phalangeal bones and distal phalangeal bones; the proximal phalangeal bones and the middle phalangeal bones form proximal interphalangeal joints; the middle phalangeal bones and the distal phalangeal bones form distal interphalangeal joints. The flexor tendons comprise first, second and third sub flexor tendons; the first, second and third sub flexor tendons are bionic tendons made of polyethylene threads. The tendon sheaths comprise first, second and third tendon sheaths; the first tendon sheath is arranged at the middle phalangeal bone; the second tendon sheath is arranged at the proximal phalangeal bone; the third tendon sheath is arranged at the metacarpal bone. The first sub flexor tendon passes through the first, second and third tendon sheaths; the first sub flexor tendon is connected with the distal phalangeal bone and the driver respectively. The second sub flexor tendon passes through the second and third tendon sheaths; the second sub flexor tendon is connected with the middle phalangeal bone and the driver respectively. The third sub flexor tendon passes through the third tendon sheath; the second sub flexor tendon is connected with the proximal phalangeal bone and the driver respectively. The driver comprises a second steering engine and a second steering disc; the second steering disc is mounted on the second steering engine; the second steering disc comprises first, second and third sub steering discs; the rotation centers of the first, second and third sub steering discs are on the same straight line; the shapes and circumferences of the first, second and third sub steering discs are different. One end of the first sub flexor tendon is wound around the first sub steering disc; the first sub steering disc is used for tightening or loosening the first sub flexor tendon when the second steering engine rotates. One end of the second sub flexor tendon is wound around the second sub steering disc; the second sub steering disc is used for tightening or loosening the second sub flexor tendon when the second steering engine rotates. One end of the third sub flexor tendon is wound around the third sub steering disc; the third sub steering disc is used for tightening or loosening the third sub flexor tendon when the second steering engine rotates. ​ 2. The bionic manipulator according to claim 1, characterized in that, The artificial ligament comprises 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.

3. The bionic manipulator according to claim 1, characterized in that, The extensor tendon cap comprises a first sub-tendon cap and a second sub-tendon cap, the first sub-tendon cap wraps the dorsal of the middle phalanx and is attached to the distal interphalangeal joint and the proximal interphalangeal joint, and the second sub-tendon cap wraps the dorsal of the proximal phalanx and is attached to the metacarpal bone, the first sub-tendon cap is arranged on the upper layer of the second sub-tendon cap. 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-tendon cap.

4. The bionic manipulator according to claim 3, characterized in that, The driver comprises a first steering engine and a first steering disc, the first steering disc is mounted on the first steering engine, one end of the extensor tendon is wound around the first steering disc, and the first steering disc is used to tighten or loosen the extensor tendon when the first steering engine rotates.

5. The bionic manipulator according to claim 1, characterized in that, The bionic mechanical hand further comprises a Bluetooth module connected with the controller, the Bluetooth module is used to transmit the electromyographic signal transmitted by the electromyographic arm ring to the controller, so that the controller controls the driver to drive the extensor tendon and / or the flexor tendon according to the electromyographic signal, and the electromyographic arm ring is worn on the arm of the user.

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

7. A control method of a bionic robot hand, characterized by, The controller applied to the bionic mechanical hand of any one of claims 1 to 6, the control method of the bionic mechanical hand comprises: receiving the electromyographic signal transmitted by the electromyographic arm ring, and determining the target posture of the bionic mechanical hand according to the electromyographic signal; sending a control instruction to the 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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