Dexterous hand control method, dexterous hand, handle and robot control system

Abstract

The invention provides a dexterous hand control method, a dexterous hand, a handle and a robot control system, and by receiving an operation instruction, according to a target control mode of the dexterous hand and force information in the operation instruction, all joints in a controlled finger combination corresponding to the target control mode are controlled to move through a driving motor in the dexterous hand. Wherein the target control mode is one of a plurality of control modes, the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination comprises fingers controlled by the driving motor in the corresponding control mode. According to the arrangement, complex multi-finger cooperative control is disassembled into control over the corresponding controlled finger combinations in different control modes, so that a user does not need to independently operate each finger through a large number of keys, and cooperative control over the controlled finger combinations in the target control mode can be completed only through output force information on the handle; and the control complexity of the dexterous hand is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a dexterous hand control method, a dexterous hand, a handle and a robot control system. Background Art

[0002] With the continuous development of the robotics industry, the uses of robots in people's lives and work are becoming more and more extensive. For example, robots can be used to perform operations such as grasping objects and clicking buttons.

[0003] At present, the more common scenario is to remotely operate the robot through a handle. However, when controlling the dexterous hand, the limited physical buttons on the handle make it difficult to achieve independent control of the multi-degree-of-freedom mechanical fingers. If the physical buttons are forced to correspond one-to-one with the mechanical fingers, the operating logic of the handle will be more complicated, and the complexity of the dexterous hand control will also be higher. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a dexterous hand control method, a dexterous hand, a handle and a robot control system, which can improve the control accuracy of the robot control process.

[0005] In a first aspect, an embodiment of the present application provides a dexterous hand control method, which is applied to a dexterous hand, wherein the dexterous hand includes a palm, multiple fingers and at least one drive motor, and the dexterous hand control method includes: receiving an operation instruction; according to the target control mode of the dexterous hand and the force information in the operation instruction, controlling each joint in a controlled finger combination corresponding to the target control mode by a drive motor to move; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode.

[0006] In a second aspect, an embodiment of the present application provides a dexterous hand control method, which is applied to a handle, the handle is used to interact with the dexterous hand, the dexterous hand includes a palm, multiple fingers and at least one drive motor, and the dexterous hand control method includes: generating force information according to the pressing stroke when the user performs a pressing operation on a specific key in the handle; generating an operation instruction according to the force information, and sending the operation instruction to the dexterous hand, so that the dexterous hand controls the movement of each joint in the controlled finger combination corresponding to the target control mode of the dexterous hand and the force information in the operation instruction through the drive motor; wherein the target control mode is one of multiple control modes, the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode.

[0007] In a third aspect, an embodiment of the present application provides a dexterous hand control device, which is applied to a robot, and the dexterous hand control device includes: a receiving module for receiving operation instructions; an adjustment module for controlling the movement of each joint in a controlled finger combination corresponding to the target control mode through a driving motor according to the target control mode of the dexterous hand and the force information in the operation instructions; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the driving motor under the corresponding control mode.

[0008] In a fourth aspect, an embodiment of the present application provides a dexterous hand control device, which is applied to a handle, and the handle is used to interact with the dexterous hand. The dexterous hand includes a palm, multiple fingers and at least one drive motor. The dexterous hand control device includes: a generation module, which is used to generate force information according to the pressing stroke when the user performs a pressing operation on a specific button in the handle; a sending module, which is used to generate an operation instruction based on the force information, and send the operation instruction to the dexterous hand, so that the dexterous hand controls the movement of each joint in the controlled finger combination corresponding to the target control mode of the dexterous hand and the force information in the operation instruction through the drive motor; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode.

[0009] In a fifth aspect, an embodiment of the present application provides a dexterous hand, comprising a palm, multiple fingers, at least one drive motor and a control module, wherein the control module is used to execute the dexterous hand control method of the first aspect mentioned above.

[0010] In a sixth aspect, an embodiment of the present application provides a handle, comprising a control module, and the control module is used to execute the dexterous hand control method of the second aspect mentioned above.

[0011] In a seventh aspect, an embodiment of the present application provides a robot control system, comprising: a handle and a robot. The handle is used to: generate force information according to the pressing stroke when the user performs a pressing operation on a specific button in the handle, generate an operation instruction according to the force information, and send the operation instruction to the dexterous hand. The dexterous hand is used to: receive the operation instruction, and according to the target control mode of the dexterous hand and the force information in the operation instruction, control the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor; wherein the target control mode is one of a plurality of control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode, and the dexterous hand includes a palm, a plurality of fingers and at least one drive motor.

[0012] In an eighth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the dexterous hand control method of the first aspect or the dexterous hand control method of the second aspect.

[0013] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the dexterous hand control method of the first aspect or the dexterous hand control method of the second aspect.

[0014] In the tenth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the dexterous hand control method of the first aspect or the dexterous hand control method of the second aspect.

[0015] In the eleventh aspect, an embodiment of the present application provides a chip, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the dexterous hand control method of the first aspect or the dexterous hand control method of the second aspect.

[0016] The embodiments of the present application provide a dexterous hand control method, a dexterous hand, a handle and a robot control system, which receives an operation instruction, controls the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor in the dexterous hand according to the target control mode of the dexterous hand and the force information in the operation instruction. Among them, the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode. With such a setting, by disassembling the complex multi-finger collaborative control into the control of the corresponding controlled finger combination in different control modes, the user no longer needs to operate each finger separately through a large number of buttons, and only needs to output the force information on the handle to complete the collaborative control of the controlled finger combination in the target control mode, thereby reducing the complexity of dexterous hand control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of the system architecture of a robot control system provided by an exemplary embodiment of the present application.

[0018] Figure 2 Shown is a flow chart of a dexterous hand control method provided by an exemplary embodiment of the present application.

[0019] Figure 3A Shown is a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application.

[0020] Figure 3B Shown is a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application.

[0021] Figure 3C Shown is a schematic diagram of the initial posture of a dexterous hand provided by an exemplary embodiment of the present application.

[0022] Figure 3D Shown is a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application.

[0023] Figure 4 Shown is a flow chart of a dexterous hand control method provided by another exemplary embodiment of the present application.

[0024] Figure 5 Shown is a flow chart of a dexterous hand control method provided by another exemplary embodiment of the present application.

[0025] Figure 6 Shown is a schematic structural diagram of a dexterous hand control device provided by an exemplary embodiment of the present application.

[0026] Figure 7 Shown is a schematic structural diagram of a dexterous hand control device provided by another exemplary embodiment of the present application.

[0027] Figure 8 FIG. 1 is a block diagram of an electronic device for executing a dexterous hand control method provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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.

[0029] Application Overview

[0030] With the development of intelligent technology, robots are being used more and more widely. For example, the more common dexterous hands in robots can perform some tasks such as object grasping and button pressing. Specifically, when performing tasks, dexterous hands usually need to interact with different objects, such as water bottles, cartons, buttons, headphones, etc. At present, when controlling dexterous hands, all fingers in the dexterous hands are often controlled at the same time, but the limited physical buttons on the handle make it difficult to achieve independent control of the multi-degree-of-freedom mechanical fingers in the dexterous hands. Therefore, it is usually controlled by controlling all fingers in the dexterous hands to release them at the same time or bend and tighten them at the same time. This control strategy cannot be applied to the scene where the dexterous hands interact with different objects.

[0031] At the same time, if the physical buttons are forced to correspond one-to-one with the mechanical fingers, the operating logic of the handle will become more complicated, and the user will need to spend a long time to learn and use the handle to control the dexterous hand. After using the handle, it will also take a long time to accurately control the dexterous hand. In other words, the complexity of dexterous hand control is also relatively high.

[0032] In summary, for some complex or dynamic scenes, the current methods of controlling dexterous hands have the technical problem of poor control accuracy.

[0033] In response to the above technical problems, an embodiment of the present application provides a dexterous hand control method, which receives an operation instruction, controls the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor in the dexterous hand according to the target control mode of the dexterous hand and the force information in the operation instruction. Among them, the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode. With such a setting, by disassembling the complex multi-finger collaborative control into the control of the corresponding controlled finger combination in different control modes, the user no longer needs to operate each finger separately through a large number of buttons, and only needs to output the force information on the handle to complete the collaborative control of the controlled finger combination under the target control mode, thereby reducing the complexity of dexterous hand control.

[0034] Exemplary Systems

[0035] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a robot control system provided by an exemplary embodiment of the present application. Figure 1As shown, the robot control system 100 may include a robot 110 and a handle 120. The robot 110 may be a dexterous hand, which at least includes a palm, multiple fingers and at least one drive motor. For each finger, the finger includes multiple joints and multiple knuckles. A knuckle of a finger is connected to the palm through a joint, and adjacent knuckles of a finger are connected through a joint. The drive motor is connected to at least one joint and is configured to drive the joint to move so as to realize the movement of the dexterous hand 110.

[0036] The handle 120 may be connected to the robot 110 by wired or wireless communication. For example, the handle 120 may transmit the operation instruction to the robot 110 by wireless communication. The wireless communication method may include Bluetooth communication, long range radio (LoRa) communication or other wireless communication methods.

[0037] The handle 120 can provide a variety of control modes for the user to choose from. The initial postures of the fingers in the dexterous hand 110 corresponding to the various control modes are different, and the controlled finger combinations corresponding to the various control modes are also different. In other words, in different control modes, the gestures presented by the fingers of the dexterous hand 110 are different, and the fingers that can be controlled by the drive motor are also different. Therefore, the user can select a target control mode from a variety of control modes, and then switch the gestures on the dexterous hand 110 by operating the handle 120, and control the joints in the controlled finger combination of the dexterous hand 110 in the target control mode. Among them, for the dexterous hand 110, the output of the drive motor is proportional to the joint rotation angle of the controlled finger, and the joint rotation angle determines the degree of opening and closing and the posture of the finger, thereby achieving grasping, releasing or other operations.

[0038] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0039] Exemplary Methods

[0040] Figure 2 Shown is a flow chart of a dexterous hand control method provided by an exemplary embodiment of the present application. Figure 2 The method can be Figure 1 The dexterous hand 110 in FIG. Figure 2 As shown, the dexterous hand control method may include the following contents.

[0041] 210: Receive operation instructions,

[0042] 220: According to the target control mode of the dexterous hand and the force information in the operation instruction, each joint in the controlled finger combination corresponding to the target control mode is controlled by the driving motor to move; wherein the target control mode is one of a plurality of control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the driving motor in the corresponding control mode.

[0043] The operation instruction may be sent by a tool for remotely controlling the dexterous hand, and the tool may be a handle, or an electronic device such as a smart phone, a wearable interactive device, etc. Taking the handle as an example, the user can control the joints of each finger in the dexterous hand through the handle to achieve precise control of the dexterous hand.

[0044] The dexterous hand can be preset with multiple control modes. In different control modes, the fingers that can be controlled by the driving motor are not exactly the same, that is, the multiple control modes correspond to different controlled finger combinations. That is, for each control mode, there is a corresponding controlled finger combination in the control mode, and the controlled finger combination includes the fingers controlled by the driving motor in the control mode.

[0045] Therefore, since the fingers that the dexterous hand needs to control are different in different control modes, the controlled finger combination corresponding to the target control mode can be determined according to the corresponding relationship between the control mode and the controlled finger combination. The number of fingers included in the controlled finger combination can be one or more.

[0046] Finally, according to the force information contained in the operation instruction, each joint in the controlled finger combination corresponding to the target control mode can be controlled by driving the motor to move.

[0047] In one example, if each finger in the dexterous hand corresponds to a driving motor, an enable signal can be sent to the motors corresponding to each controlled finger in the controlled finger combination corresponding to the target control mode, so that the output of the driving motor can be adjusted according to the force information. At the same time, a stop signal is sent to the motors corresponding to the other fingers of the dexterous hand except the controlled finger combination corresponding to the target control mode, so that they are powered off.

[0048] In one example, if each finger in the dexterous hand corresponds to a drive motor, the drive motor can be stopped from supplying power to the other fingers of the dexterous hand except for the controlled finger combination corresponding to the target control mode, and only the drive motor is retained to supply power to each controlled finger in the controlled finger combination corresponding to the target control mode.

[0049] The embodiment of the present application provides a method for controlling a dexterous hand, which receives an operation instruction including force information, and then controls the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor in the dexterous hand according to the target control mode of the dexterous hand and the force information in the operation instruction. The target control mode is one of a plurality of preset control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode. With such a setting, by disassembling the complex multi-finger collaborative control into the control of the corresponding controlled finger combination in different control modes, the user no longer needs to operate each finger individually through a large number of buttons, and only needs to output the force information on the handle to complete the collaborative control of the controlled finger combination in the target control mode, thereby reducing the complexity of dexterous hand control.

[0050] According to one embodiment of the present application, the dexterous hand control method also includes: receiving a mode selection instruction; adjusting the posture of each finger in the dexterous hand to an initial posture corresponding to the target control mode according to information on the target control mode in the mode selection instruction; wherein the initial posture of each finger in the dexterous hand corresponding to multiple control modes is different.

[0051] Among them, the dexterous hand can be preset with multiple control modes, and the initial postures of the fingers in the dexterous hand corresponding to each control mode are different. That is to say, in different control modes, the gestures presented by the fingers of the dexterous hand are different.

[0052] Therefore, the dexterous hand can receive the mode selection instruction, and determine the initial posture corresponding to the target control mode according to the information of the target control mode in the mode selection instruction and the initial postures corresponding to the preset control modes.

[0053] Finally, the posture of each finger in the dexterous hand can be adjusted to the initial posture corresponding to the target control mode. The initial posture corresponding to the control mode is the initial posture of each finger in the dexterous hand corresponding to the control mode, and the initial posture corresponding to the control mode at least includes the angles corresponding to each joint in the dexterous hand.

[0054] In one example, the step of receiving and executing the mode selection instruction can be that before accepting the operation instruction, the dexterous hand switches the postures of each finger contained in it to the initial posture corresponding to the target control mode, and then controls the controlled finger combination under the target control mode according to the force information in the operation instruction.

[0055] In one example, the step of receiving and executing the mode selection instruction may be after receiving the operation instruction, after the dexterous hand controls the controlled finger combination in the target control mode to complete a certain action, the dexterous hand may receive and execute the mode selection instruction sent by the tool that remotely controls the dexterous hand.

[0056] In one example, the mode selection instruction may be sent by a handle. The multiple buttons that can be set on the handle may include mode selection buttons corresponding to the control modes. When the user performs a mode selection operation on the mode selection button, the handle may generate information about the target control mode according to the mode selection operation performed by the user. Afterwards, a mode selection instruction is generated according to the information about the target control mode, and the mode selection instruction is sent to the dexterous hand.

[0057] In one example, the handle may provide multiple control modes for the user to choose from via a joystick, a display screen, or other possible methods.

[0058] In one example, the user may input the mode selection instruction through a button, a joystick, or a display screen.

[0059] In the embodiment of the present application, by presetting a plurality of control modes, each control mode corresponds to a different initial posture, so that the dexterous hand can quickly adapt to the needs of different scenes and different interactive objects, and can improve the pertinence of the dexterous hand to the required tasks. Furthermore, before receiving the operation instruction, the posture of the dexterous hand is adjusted to the initial posture corresponding to the control mode, which reduces the time for manually adjusting the posture of each finger in the dexterous hand, and significantly improves the task execution efficiency of the dexterous hand. In addition, by providing a plurality of control modes to the user through the handle, it is convenient for the user to select the target control mode on the handle, so that when interacting with different objects, the matching degree between the dexterous hand and the object can be achieved by switching the target control mode, thereby improving the interaction efficiency of the dexterous hand.

[0060] According to an embodiment of the present application, by summarizing the gestures and actions used when the dexterous hand interacts with objects of different volumes, it is found that in most scenarios, the three gestures of "grip", "pinch" and "finger" can be used to achieve the purpose of interacting with objects. For example, when it is necessary to grab a larger object, the dexterous hand uses the "grip" gesture, and all fingers work together to get close to the object and then hold the object. When it is necessary to grab a smaller object, the dexterous hand uses the "pinch" gesture, and pinches it with some fingers. When it is necessary to tap a very small object such as a key or a string, the dexterous hand uses the "finger" gesture, and a tap operation is performed with one finger. Therefore, in the present application, multiple control modes can be divided into three types, namely, a first control mode, a second control mode and a third control mode, wherein the controlled finger combination corresponding to the first control mode includes all fingers of the dexterous hand, the controlled finger combination corresponding to the second control mode includes the index finger and thumb of the dexterous hand, and the controlled finger combination corresponding to the third control mode includes the index finger of the dexterous hand.

[0061] When using the "grip" gesture to interact with an object, the fingers are usually fully opened, and then all fingers are bent to achieve the purpose of touching and grasping the object. Therefore, the initial posture corresponding to the first control mode can be to set the joint rotation angles of all fingers in the dexterous hand to 0, that is, the palm is in an open posture, such as Figure 3A shown.

[0062] Figure 3A The figure shows a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application. It can be seen that the figure contains two postures of the dexterous hand. The posture of the dexterous hand on the left side of the figure is the initial posture corresponding to the first control mode. In this posture, the joint rotation angles of all joints of the dexterous hand can be 0. In this control mode, the controlled finger combination is all the fingers in the dexterous hand. The right side of the figure shows the posture after the joints in the controlled finger combination are controlled by the driving motor according to the force information in the first control mode. It can be seen that compared with the image on the left, the bending angles of the fingers in the image on the right have changed.

[0063] When using the "pinching" gesture to interact with an object, the fingers are usually spread out completely, and then the thumb and index finger are bent to touch and pinch the object. Therefore, the initial posture corresponding to the second control mode can be similar to the initial posture of the first control mode, and the joint rotation angles of all fingers of the dexterous hand are set to 0, such as Figure 3B shown.

[0064] Figure 3B The figure shows a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application. It can be seen that the figure contains two postures of the dexterous hand. The posture of the dexterous hand on the left side of the figure is the initial posture corresponding to the second control mode. In this posture, the joint rotation angles of all joints of the dexterous hand can be 0. In this control mode, the controlled finger combination is the thumb and index finger of the dexterous hand. The right side of the figure shows the posture after the joints in the controlled finger combination are controlled by the driving motor according to the force information in the second control mode. It can be seen that compared with the image on the left, the bending angles of the thumb and index finger in the image on the right have changed.

[0065] In addition, for fingers other than the thumb, the angle between the initial posture of the "hold" gesture and the "pinch" gesture and the palm has little effect on the purpose of interacting with objects in this control mode. However, for the thumb, the angle between the initial posture of the "hold" gesture and the "pinch" gesture and the palm has a greater impact on the purpose of interacting with objects. Figure 3C shown.

[0066] Figure 3C Shown is a schematic diagram of the initial posture of a dexterous hand provided by an exemplary embodiment of the present application. In the figure, the shaded rectangle is the thumb, and the white rectangle is the palm. The figures are all cross-sectional views with the palm pointing to the fingertips. The image on the left in the figure shows that the angle between the thumb and is 0 degrees, and the thumb will bend toward the other fingers with the connection point with the palm as the axis. In the middle image, the thumb is offset at a certain angle relative to the palm. Taking this state as the initial state, the thumb will bend toward the direction close to the extension of the palm with the connection point as the axis and the current deviation angle as the basis. For the image on the right, the angle between the thumb and the palm is larger, almost vertical. Moving from this nearly vertical initial state, the thumb will bend toward the direction closer to the palm of the palm (or other specific directions, depending on the design) with the connection point as the axis.

[0067] Therefore, when setting the initial states corresponding to the control modes, different deflection angles are usually set for the first control mode and the second control mode in the deflection angle between the thumb and the palm, that is, different initial postures are set for the first control mode and the second control mode.

[0068] When using the "pointing" gesture to interact with an object, the middle finger, ring finger and pinky finger are usually folded, and the thumb and index finger are opened to prevent the thumb and other fingers from affecting the interaction between the index finger and the target object. Then, by bending the index finger, the purpose of touching the object is achieved, such as Figure 3D shown.

[0069] Figure 3D Shown is a schematic diagram of the initial posture and posture of the dexterous hand during movement provided by an exemplary embodiment of the present application. It can be seen that the figure contains two postures of the dexterous hand. The posture of the dexterous hand on the left side of the figure is the initial posture corresponding to the third control mode. In this posture, the rotation angle of the dexterous middle finger, ring finger and little finger can be 90 degrees, and the rotation angle of the thumb can be 0 degrees. In this control mode, the controlled finger combination is the index finger in the dexterous hand. The right side of the figure shows the posture after the joints in the controlled finger combination are controlled by the driving motor according to the force information under the third control mode. It can be seen that compared with the image on the left, the bending angle of the index finger in the image on the right has changed.

[0070] In an embodiment of the present application, the control modes of the dexterous hand are preset into three categories, and for each type of control mode, a corresponding initial posture and controlled finger are set for it, so as to achieve the purpose of using different control modes to perform interactive operations of the dexterous hand in different scenarios, thereby ensuring the control accuracy.

[0071] According to one embodiment of the present application, step 220 may include: determining a controlled finger combination corresponding to the target control mode in which the dexterous hand is located, and for each controlled finger in the controlled finger combination corresponding to the target control mode, controlling each joint in the controlled finger by driving a motor to move according to the degree of freedom of the controlled finger in the target control mode, wherein the degrees of freedom of the same finger in different control modes are not exactly the same.

[0072] Specifically, the dexterous hand can determine the controlled finger combination corresponding to the target control mode according to the controlled finger combinations corresponding to the pre-stored control modes, and at the same time, for each finger in the controlled finger combination corresponding to the target control mode, the dexterous hand can determine the degree of freedom of the controlled finger in the target control mode. The degree of freedom may include joint activation status, motion range constraints, etc.

[0073] Therefore, for each controlled finger in the controlled finger combination corresponding to the target control mode, the degree of freedom of the controlled finger in the target control mode can be controlled to move according to the force information.

[0074] In one example, taking the thumb including a flexion and extension joint, a side swing joint and a rotation joint as an example, in the first control mode, the freedom configuration of the thumb can be that the flexion and extension joint and the side swing joint are activated, the rotation joint is disabled, and the angle range of the flexion and extension joint is 0° to 90°. In the second control mode, the freedom configuration of the thumb can be that the flexion and extension joint is activated, the side swing joint and the rotation joint are disabled, and the flexion and extension angle range is 0° to 45°.

[0075] In one example, the index finger includes a metacarpophalangeal joint, a proximal interphalangeal joint, a distal fingertip joint and a lateral swing joint. In the first control mode, the degree of freedom of the index finger can be configured to activate the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint, lock the degree of freedom of the lateral swing joint, the angle range of the metacarpophalangeal joint is 0° to 120°, and the proximal interphalangeal joint and the distal interphalangeal joint move according to a fixed ratio of joints. In the second control mode, the degree of freedom of the index finger can be configured to activate the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint, disable the lateral swing joint, the angle range of the metacarpophalangeal joint is 0° to 90°, the angle range of the proximal fingertip joint is 0° to 60°, and the angle range of the distal fingertip joint is 0° to 30°. Disable means inactive and locked, and lock means active but limited in range.

[0076] In one example, taking the controlled finger as the thumb and the target control mode as the first control mode as an example, in this case, the controlled finger can be bent or swung sideways. Therefore, through the force information, the controlled finger can be controlled to sway sideways while bending, so that the controlled finger and the target object fit better. Taking the controlled finger as the thumb and the target control mode as the second control mode as an example, in this case, the controlled finger can only be bent and cannot be swung sideways. Therefore, through the force information, the controlled finger can be controlled to bend, and the controlled finger is prohibited from swaying left and right, thereby improving the success rate of the controlled finger's pinching business on the target object.

[0077] It should be noted that the above description only uses the thumb and index finger as examples, but for each finger in the dexterous hand, the finger can have its corresponding degree of freedom under different control modes. How to set its degree of freedom and the specific content of its degree of freedom configuration can be set as needed, and this application does not impose any restrictions on this.

[0078] In the embodiment of the present application, for different control modes, the corresponding degrees of freedom are set for each finger in the corresponding controlled finger combination, which can achieve accurate matching when the dexterous hand interacts with different objects in different scenes, thereby improving operation accuracy and efficiency.

[0079] According to an embodiment of the present application, the operation instruction is sent by a handle, a specific button is provided on the handle, and the force information is determined by the pressing stroke generated by the specific button when the user performs a pressing operation.

[0080] Specifically, the handle may be provided with a plurality of buttons, wherein the plurality of buttons may include a specific button that is linearly related to the output of the driving motor in the dexterous hand. When the user performs a pressing operation on the specific button, the handle may determine force information according to the pressing stroke generated by the specific button when the user performs the pressing operation. Thereafter, an operation instruction is generated according to the force information, and the operation instruction is sent to the dexterous hand.

[0081] In one example, the button here can be a physical button or a virtual button. Of course, the handle can provide a button for the user to perform a pressing operation through a rocker, a display screen or other possible methods.

[0082] In one example, the specific button may be a specific slider, which will generate a sliding distance when the user performs a pressing operation. The handle may use the sliding distance as the pressing stroke and generate force information according to the pressing stroke.

[0083] In the embodiment of the present application, the handle provides the user with specific buttons or specific sliders, which makes it easy for the user to interact with the object through reasonable force in the target control mode, thereby ensuring the convenience and intuitiveness of the user's operation.

[0084] According to an embodiment of the present application, step 230 may include: determining the drive mapping ratio of the target control mode from the drive mapping ratios corresponding to the multiple control modes, wherein the drive mapping ratio is used to characterize the ratio between the travel range of a specific key and the output of the drive motor, the greater the pressing travel, the greater the output of the drive motor, and the greater the rotation angle of the joint controlled by the drive motor, the multiple control modes correspond to different drive mapping ratios, and according to the drive mapping ratio and force information of the target control mode, the drive motor is used to control the movement of each joint in the controlled finger combination corresponding to the target control mode.

[0085] The drive mapping ratio is used to characterize the proportional relationship between the travel range of a specific button in the handle and the output of the drive motor. From a mathematical point of view, the drive mapping ratio is a coefficient. Assuming that the drive mapping ratio is k, the pressing travel of a specific button is s, and the output of the drive motor is o, the relationship between them can be o=s×k. In other words, the output o of the drive motor will change accordingly according to the drive mapping ratio k.

[0086] In one example, the output of the drive motor directly affects the rotation angle of the joint it controls. The larger the drive mapping ratio, the greater the output of the drive motor under the same pressing stroke, and the greater the rotation angle of the joint, and vice versa. Therefore, the user can accurately control the movement range of each joint in the controlled finger combination of the dexterous hand in its corresponding control mode by changing the pressing stroke of a specific button.

[0087] In one example, in different control modes, the task requirements and operation characteristics of the dexterous hand are different, which leads to different corresponding drive mapping ratios for different control modes. For example, in the first control mode, a larger force may be required to control all fingers to perform grasping operations, and the drive mapping ratio may be set to a larger value; while in the third control mode, only the index finger is controlled for fine operations, and the drive mapping ratio may be set to a smaller value to achieve more precise control. By setting different drive mapping ratios for different control modes, diverse operation requirements can be better met.

[0088] In one example, the dexterous hand can determine the drive mapping ratio of the target control mode from the drive mapping ratios corresponding to the multiple control modes, and then determine the output of the drive motor corresponding to the force information according to the force information and the drive mapping ratio of the target control mode, and finally adjust the joints in the controlled finger combination under the target control mode to move according to the determined output of the drive motor. The determined output of the drive motor can be the angular rotation amount of each joint.

[0089] In an embodiment of the present application, by setting different drive mapping ratios for different control modes, the user only needs to press a specific button on the handle to achieve precise control of the movement of the finger joints of the dexterous hand according to the drive mapping ratio, thereby controlling the dexterous hand to complete various complex tasks and improving the control accuracy.

[0090] According to an embodiment of the present application, the driving mapping ratio of the first control mode is greater than the driving mapping ratio of the second control mode, and the driving mapping ratio of the first control mode is less than the driving mapping ratio of the third control mode.

[0091] Among them, the first control mode is used to grab larger objects. In this case, people will instinctively use greater force and a relatively large range of motion to ensure stable grasping. The second control mode is used to pinch smaller objects. In this case, more precise force control is required to avoid damaging the objects due to excessive force. The third control mode is used for point contact operations. In this case, more sensitive and faster operations are required to accurately and quickly complete the operations of clicking on screen icons and flicking on and off lights.

[0092] Based on the differences between the above control modes, the drive mapping ratios of the above control modes can be set as follows: taking the drive mapping ratio of the first control mode as a reference, the drive mapping ratio of the second control mode can be smaller than that of the first control mode, and the drive mapping ratio of the third control mode can be larger than that of the first control mode. In other words, in the second control mode, more pressing stroke is required to achieve the same output of the drive motor as in the first control mode, and in the third control mode, a smaller change in the pressing stroke of a specific key can cause a larger change in the motor output.

[0093] In an example, each control mode and its corresponding driving mapping ratio may be shown in the following table.

[0094]

[0095]

[0096] Table 1

[0097] Table 1 describes the corresponding relationship between each control mode and applicable scenarios, controlled finger combinations, drive mapping ratio and holding torque. The applicable scenarios and controlled finger combinations can be found in the above descriptions. The holding torque is used to characterize the degree of force to maintain the operating state under each control mode.

[0098] For the drive mapping ratio, it can be divided into n basic strokes according to the stroke interval of a specific stroke, and then for each joint in the controlled finger combination, the rotation interval corresponding to the joint is divided, and it is also divided into n basic angles. Therefore, if the drive mapping ratio is 1:1, if the pressing stroke is 6, the drive motor can control the rotation angle of each joint in its control mode to be the sum of 6 basic angles. If the drive mapping ratio is 2:1, if the pressing stroke is 6, the drive motor can control the rotation angle of each joint in its control mode to be the sum of 3 basic angles. If the drive mapping ratio is 1:2, if the pressing stroke is 6, the drive motor can control the rotation angle of each joint in its control mode to be the sum of 12 basic angles.

[0099] In the embodiment of the present application, by setting drive mapping ratios of different sizes for each control mode according to the differences therein, the operation accuracy is improved and the force control is refined.

[0100] According to an embodiment of the present application, when the target control mode is the second control mode, since the driving mapping ratio of the second control mode is less than the driving mapping ratio of the first control mode, this means that if the initial posture setting rotation degree of the thumb and index finger is 0, even if the pressing stroke of the specific key is the maximum value of its stroke interval, the output of the driving motor can only control the rotation of each joint in the thumb and index finger to half of its rotation interval, which obviously cannot meet the purpose of pinching a small object. Therefore, in step 230, if the target control mode is the second control mode, and it is determined according to the force information that the pressing stroke is not zero, according to the driving mapping ratio of the second control mode, the controlled rotation angle of each joint in the controlled finger combination corresponding to the target control mode is determined when the pressing stroke is the maximum stroke of the specific key, the limited rotation angle of the controlled finger combination in the second control mode is divided into a preset angle and a controlled rotation angle, and each joint in the controlled finger combination corresponding to the target control mode is adjusted to the preset angle by the driving motor, and each joint in the controlled finger combination corresponding to the target control mode is controlled by the driving motor to start moving from the preset angle according to the driving mapping ratio and the force information.

[0101] Specifically, after receiving the operation instruction, the dexterous hand can first determine whether the target control mode is the second control mode, and check whether the pressing stroke corresponding to the force information is zero. If the target control mode is the second control mode and the pressing stroke is not zero, the subsequent steps are executed.

[0102] Secondly, the control rotation angle of each joint in the thumb and index finger (controlled finger combination) can be calculated based on the drive mapping ratio of the second control mode when the specific key pressing stroke is the maximum value of its stroke range. This angle is obtained based on the relationship between the drive mapping ratio and the maximum stroke, reflecting the maximum rotation that can be achieved through the pressing stroke of the specific key in this control mode.

[0103] Then, the limited rotation angle of the thumb and index finger in the second control mode is divided into two parts: a preset angle and a controlled rotation angle. The limited rotation angle is the maximum rotation angle that the controlled finger combination can achieve in this control mode, and the controlled rotation angle is the angle range that can be adjusted based on the preset angle based on the pressing stroke and the drive mapping ratio.

[0104] Afterwards, the joints in the thumb and index finger are controlled by driving motors to adjust their postures to preset angles.

[0105] Finally, based on the drive mapping ratio and the current force information, the drive motor controls the joints in the thumb and index finger to start moving from the preset angle. As the pressing stroke changes, the joints rotate based on the preset angle according to the corresponding relationship of the drive mapping ratio to achieve control of the pinching force and action.

[0106] In an embodiment of the present application, in order to solve the problem that the rotation range of the joint is limited due to the small drive mapping ratio in the second control mode, sufficient space is reserved for joint movement in advance by setting a preset angle. Even if a specific button is pressed to the maximum stroke, the finger movement range required for pinching small objects can be met, which effectively solves the operational limitations caused by the drive mapping ratio. At the same time, this embodiment enables the dexterous hand to adapt to the pinching needs of smaller objects of different sizes and shapes in the second control mode. Whether it is delicate electronic components or tiny handicrafts, the finger posture and pinching force can be adjusted through preset angles and control based on the pressing stroke, which enhances the operational adaptability and versatility of the dexterous hand in this control mode.

[0107] In addition, when the target control mode is the third control mode, since the drive mapping ratio of the third control mode is greater than the drive mapping ratio of the first control mode, this will result in the situation where the pressing stroke of a specific key has not yet reached the maximum value of its stroke range, but the output of the drive motor has reached its maximum output. In this case, the dexterous hand can determine the pressing stroke of a specific key when the output of the drive motor is at its maximum output as the stroke threshold. Therefore, the dexterous hand can control the movement of the controlled finger combination of the target control mode according to the force information based on the stroke threshold and the force information when the pressing stroke represented by the force information does not exceed the stroke threshold, and control the movement of the controlled finger combination of the target control mode according to the maximum output of the drive motor when the pressing stroke represented by the force information exceeds the stroke threshold.

[0108] Of course, if the controlled finger combination in the dexterous hand is required to respond in a step-like manner at the maximum speed, the stroke of a specific key after exceeding the stroke threshold can be directly mapped to the controlled finger combination fully opening, and the operator can place the specific key near the stroke threshold and jump back and forth to achieve rapid and repeated finger movements. Therefore, when the pressing stroke represented by the force information exceeds the stroke threshold, the dexterous hand can also control the controlled finger combination corresponding to the target control mode to its corresponding initial posture.

[0109] According to an embodiment of the present application, after contacting the target object, the dexterous hand can also apply a certain force to the target object according to the pressing stroke of a specific key to ensure the stability of the dexterous hand operation. Therefore, step 230 may include: according to the drive mapping ratio and force information corresponding to the target control mode, the joints in the controlled finger combination corresponding to the target control mode are driven by the driving motor to move, and for each controlled finger in the controlled finger combination corresponding to the target control mode, when the controlled finger contacts the target object, the controlled finger is controlled to stop moving, and the static stroke of the controlled finger is determined, and the output torque of the controlled finger is determined according to the static stroke and the pressing stroke represented by the force information, as well as the maximum output torque of the controlled finger under the target control mode. Among them, the maximum output torque of the controlled finger is different under different control modes.

[0110] Specifically, the dexterous hand can calculate the angle that each joint should rotate or the distance it should move according to the pressing stroke represented by the drive mapping ratio and force information, and then drive the motor to drive the joint movement according to the calculation results, so that the controlled finger moves closer to the target object.

[0111] Then, during the movement of each controlled finger in the controlled finger combination, the contact status between the controlled finger and the target object is monitored in real time using sensors (such as pressure sensors, proximity sensors, etc.) installed on the fingers.

[0112] When the sensor of a controlled finger detects contact with the target object, the control system immediately issues a command to control the controlled finger to stop moving to avoid excessive squeezing or damage to the target object. At the same time, the static stroke of the controlled finger at the moment of contact is recorded. The static stroke can be measured by the sensor, which is an important parameter for the subsequent calculation of the output torque.

[0113] Finally, for each controlled finger, the dexterous hand can determine the output torque of the controlled finger by the following formula according to the recorded static stroke, the pressing stroke represented by the force information, and the maximum output torque of the controlled finger under the target control mode.

[0114]

[0115] Among them, d c is the static stroke, that is, the pressing stroke of a specific key from the initial state of the controlled finger to the time when the controlled finger touches the target object, d a (t) is the pressing stroke of a specific key after the controlled finger touches the target object, It is the maximum torque allowed to be output by the controlled finger in target control mode.

[0116] In one example, the maximum output torque of the controlled finger is different in different control modes. For example, in the "grip" mode, a larger force is required to grasp an object, so the maximum output torque is relatively large; the "pinch" mode requires moderate force to stably grasp small objects; the "finger" mode mainly performs light touch operations, and the maximum output torque is small. In other words, the maximum output torque of the first control mode is greater than the maximum output torque of the second control mode, and the maximum output torque of the second control mode is greater than the maximum output torque of the third control mode. The maximum output torque is similar to the aforementioned holding torque.

[0117] In the embodiment of the present application, by calculating the output torque of the controlled finger, the dexterous hand can adjust the force applied to the target object according to the actual situation. This makes the dexterous hand more flexible during operation and can perform precise force control according to the characteristics of the object and the operation requirements. At the same time, the robot's action and output torque are controlled according to the force information (i.e., the pressing stroke) input by the user through the handle, so that the operation of the robot-type robot is more in line with the user's intention. The user can easily control the robot to complete various tasks by simply pressing the handle button, and the operation is more intuitive and convenient.

[0118] According to one embodiment of the present application, the dexterous hand control method also includes: determining the number of controlled fingers in contact with the target object in the controlled finger combination corresponding to the target control mode; determining the specific damping based on the number and a preset damping matching rule; and sending a damping update instruction to the handle based on the specific damping.

[0119] Specifically, for each finger in the dexterous hand, a sensor (such as a pressure sensor, a proximity sensor, etc.) may be provided on the finger, so that during the movement of each controlled finger in the controlled finger combination, the sensor installed on the finger may be used to monitor the contact between the controlled finger and the target object in real time. The dexterous hand may determine a specific damping according to the monitored contact between the controlled finger and the target object, and send a damping update instruction to the handle according to the specific damping, so that the handle updates the damping of a specific key to the specific damping according to the damping update instruction.

[0120] Therefore, the handle can adjust the damping of a specific key according to the damping update instruction to prompt the user that the dexterous hand has touched the target object.

[0121] In one example, different damping adjustment strategies can be set according to different finger contact situations (such as single finger contact, multiple fingers contact at the same time, etc.) to adapt to various complex operation tasks. For example, when grasping fragile objects, increasing key damping after multiple fingers contact can allow users to control the hand movements of their dexterous hands more gently and stably to ensure the safety of objects; when performing some tasks that require fast operations, relatively small damping changes may be set according to the contact situation of specific fingers to ensure operational flexibility.

[0122] In one example, the preset damping matching rule may be: when the number of contact fingers is 1, the specific damping is 0.1; when the number of contact fingers is 2, the specific damping is 0.2; when the number of contact fingers is 3, the specific damping is 0.3; when the number of contact fingers is 4, the specific damping is 0.4; when the number of contact fingers is 5, the specific damping is 0.5.

[0123] Therefore, the number of controlled fingers in contact with the target object in the controlled finger combination corresponding to the target control mode can be determined, and the specific damping can be determined according to the number and a preset damping matching rule.

[0124] In one example, the damping update instruction may be sent when a change in the number of controlled fingers in contact with the target object is detected.

[0125] In the embodiment of the present application, when the finger contacts the target object, the damping of the specific button of the handle changes. This change allows the user to intuitively feel the contact state between the finger and the object, providing a real-time tactile feedback, allowing the user to more accurately grasp the operation process and enhance the experience of human-computer interaction. At the same time, when fine adjustment of the grasped object is required, the larger damping can prevent excessive pressing of the button due to misoperation or hand shaking, thereby improving the accuracy of the operation, helping to more accurately control the movement of the fingers of the dexterous hand, and avoiding unnecessary damage or position displacement to the target object.

[0126] In addition, in the application embodiment, the operation instruction may also include information about the target control mode, which may be stored by the handle when sending the mode selection instruction. After receiving the operation instruction, the dexterous hand may determine whether the target control mode information in the operation instruction and the control mode it is currently in are consistent. If they are consistent, the controlled finger combination of the target control mode is directly controlled according to the force information in the operation instruction. If they are inconsistent, the posture of each finger contained in the dexterous hand is adjusted to the initial posture corresponding to the target control mode, and then the joints in the controlled finger combination are controlled to move according to steps 210 to 220.

[0127] Figure 4 Shown is a flow chart of a dexterous hand control method provided by another exemplary embodiment of the present application. Figure 4 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 4 As shown, the dexterous hand control method may include the following contents.

[0128] 410: Receive the mode selection instruction sent by the handle, and adjust the posture of each finger in the dexterous hand to an initial posture corresponding to the target control mode.

[0129] 420: receiving the operation command sent by the handle.

[0130] In one example, a stable communication connection needs to be established between the dexterous hand and the handle, which can use Bluetooth, Wi-Fi or a dedicated wireless communication protocol to ensure the stability and real-time nature of data transmission during the communication process and avoid data loss or delay.

[0131] In one example, the communication module of the dexterous hand monitors the signals sent by the handle in real time. When receiving the operation command, it transmits it to the robot's main control system. The main control system parses the command and extracts the force information and target control mode information contained therein.

[0132] 430: Determine a controlled finger combination corresponding to the target control mode.

[0133] In one example, the storage system of the dexterous hand pre-stores the initial finger posture information corresponding to each control mode. The main control system can query the corresponding initial posture parameters from the database according to the target control mode information obtained by analysis. These parameters include the angle and position of each finger joint. The queried initial posture parameters are converted into control signals of the drive motor, and the drive motor drives the joint movement of each finger to adjust the finger posture to the initial posture corresponding to the target control mode.

[0134] 440: Determine a drive mapping ratio corresponding to a target control mode from drive mapping ratios corresponding to a plurality of control modes.

[0135] 450: According to the driving mapping ratio and force information of the target control mode, each joint in the controlled finger combination corresponding to the target control mode is controlled by the driving motor to move.

[0136] 460: For each controlled finger in the controlled finger combination corresponding to the target control mode, when the controlled finger contacts the target object, control the controlled finger to stop moving, and determine a stationary stroke of the controlled finger.

[0137] In one example, a contact sensor (such as a pressure sensor, a capacitive sensor, etc.) can be installed on each finger of the dexterous hand to monitor the contact between the finger and the target object in real time. When the signal detected by the sensor exceeds a preset threshold, it is determined that the finger has contacted the target object.

[0138] 470: Determine the output torque of the controlled finger according to the static stroke, the force information, and the maximum output torque of the controlled finger in the target control mode, wherein the maximum output torque of the controlled finger in different control modes is different.

[0139] In this embodiment, the finger joint movement is precisely controlled according to the target control mode and force information in the handle operation instruction, combined with a specific drive mapping ratio. By presetting the initial posture, controlled finger combination, drive mapping ratio and maximum output torque corresponding to different control modes, the dexterous hand can flexibly adapt to various operation scenarios such as "gripping", "pinching" and "fingering", thereby improving the operation accuracy. At the same time, when the finger contacts the target object, the movement is stopped in time and the static stroke is recorded to prevent excessive squeezing of the object, which can effectively protect the safety of the target object.

[0140] It should be understood that the execution order of the above steps can be adjusted according to actual needs.

[0141] The present application also provides a dexterous hand control method, such as Figure 5 As shown, Figure 5 The method can be Figure 1 The handle 120 in is executed. Figure 5 Methods and Figure 2 The method corresponds to, therefore, Figure 5 The relevant contents of the method can refer to the description of the dexterous hand control method performed by the robot. Specifically, the dexterous hand control method may include the following contents.

[0142] 510: Generate force information according to the pressing stroke when the user performs a pressing operation on a specific button in the handle.

[0143] 520: Generate an operation instruction based on the force information, and send the operation instruction to the dexterous hand, so that the dexterous hand controls the joints in the controlled finger combination corresponding to the target control mode through the driving motor to move according to the target control mode of the dexterous hand and the force information in the operation instruction; wherein the target control mode is one of a plurality of control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the driving motor in the corresponding control mode.

[0144] The specific contents of the handle, specific buttons, force information, multiple control modes, initial postures corresponding to the control modes, and controlled finger combinations corresponding to the control modes can be found in the description of the above embodiments and will not be repeated here.

[0145] The embodiment of the present application provides a method for controlling a dexterous hand, which determines the force information by the user pressing a specific button on the handle, and then generates an operation instruction according to the target force information, so that the dexterous hand can control the movement of each joint in the controlled finger combination corresponding to the target control mode according to the force information. With such a setting, when interacting with different objects, each joint in the controlled finger combination can be controlled to rotate to different angles by pressing a specific button on the handle, thereby ensuring the matching degree between the dexterous hand and the object it interacts with. Without setting a button corresponding to each finger or joint in the dexterous hand, the coordinated control of each multi-degree-of-freedom mechanical finger in the dexterous hand can be achieved, reducing the control difficulty.

[0146] According to one embodiment of the present application, the dexterous hand control method also includes: generating information of a target control mode based on a user's mode selection operation on a handle, generating a mode selection instruction according to the information of the target control mode, and sending the mode selection instruction to the dexterous hand, so that the dexterous hand adjusts the posture of each finger in the dexterous hand to an initial posture corresponding to the target control mode according to the information of the target control mode in the mode selection instruction, wherein the initial posture of each finger in the dexterous hand corresponding to multiple control modes is different.

[0147] The specific contents of the mode selection operation, the mode selection button, the information of the target control mode, and the initial posture corresponding to the control mode can be found in the description of the above embodiments, which will not be repeated here.

[0148] According to one embodiment of the present application, the dexterous hand control method also includes: receiving a damping update instruction sent by the dexterous hand, determining a specific damping according to the damping update instruction and a preset damping matching rule, and updating the damping of a specific button to the specific damping.

[0149] The damping update instruction for determining the specific damping is different from the information contained in the damping update instruction containing the specific damping. The damping update instruction for determining the specific damping includes the number of controlled fingers in contact with the target object in the controlled finger combination corresponding to the target control mode. The handle can determine the specific damping according to the number and the damping matching rule, and update the damping of the specific key to the specific damping.

[0150] In one example, the damping update instruction for determining the specific damping may be sent when the dexterous hand detects a change in the number of controlled fingers in contact with the target object.

[0151] In the embodiment of the present application, when the finger contacts the target object, the damping of the specific button of the handle changes. This change allows the user to intuitively feel the contact state between the finger and the object, providing a real-time tactile feedback, allowing the user to more accurately grasp the operation process and enhance the experience of human-computer interaction. At the same time, when fine adjustment of the grasped object is required, the larger damping can prevent excessive pressing of the button due to misoperation or hand shaking, thereby improving the accuracy of the operation, helping to more accurately control the movement of the fingers of the dexterous hand, and avoiding unnecessary damage or position displacement to the target object.

[0152] Exemplary Devices

[0153] The embodiment of the present application also provides a dexterous hand, which includes a palm, multiple fingers, at least one drive motor and a control mode, and the control module is used to execute the above Figure 2 or Figure 4 The dexterous hand control method provided in the embodiment.

[0154] The specific functions and effects of the dexterous hand provided in the embodiment of the present application can be referred to the description in the above method embodiment, and will not be described again here to avoid repetition.

[0155] The present application also provides a handle, which includes a control module, which is used to execute the above Figure 5 The dexterous hand control method provided in the embodiment.

[0156] The embodiment of the present application also provides a robot control system, including: a handle and a dexterous hand. The handle is used to: generate force information according to the pressing stroke when the user performs a pressing operation on a specific button in the handle, generate an operation instruction according to the force information, and send the operation instruction to the dexterous hand. The dexterous hand is used to: receive the operation instruction, and according to the target control mode of the dexterous hand and the force information in the operation instruction, control the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor; wherein the target control mode is one of a plurality of control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode, and the dexterous hand includes a palm, a plurality of fingers and at least one drive motor.

[0157] The specific functions and effects of the robot control system provided in the embodiments of the present application can be referred to the descriptions in the above-mentioned method embodiments, robot embodiments and handle embodiments. In order to avoid repetition, they will not be described again here.

[0158] Figure 6 FIG. 1 is a schematic diagram of a structure of a dexterous hand control device provided by an exemplary embodiment of the present application, and the dexterous hand control device can be applied to a robot. Figure 6 As shown, the dexterous hand control device 600 includes: a receiving module 610 and a control module 620 .

[0159] The receiving module 610 is used to receive an operation instruction.

[0160] The control module 620 is used to control the movement of each joint in the controlled finger combination corresponding to the target control mode through the driving motor according to the target control mode of the dexterous hand and the force information in the operation instruction; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the driving motor in the corresponding control mode.

[0161] Optionally, the dexterous hand control device 600 also includes an adjustment module 630; the receiving module 610 is used to receive a mode selection instruction; the adjustment module 630 is used to adjust the posture of each finger in the dexterous hand to an initial posture corresponding to the target control mode according to the information of the target control mode in the mode selection instruction; wherein the initial posture of each finger in the dexterous hand corresponding to multiple control modes is different.

[0162] Optionally, the multiple control modes include a first control mode, a second control mode and a third control mode, the controlled finger combination corresponding to the first control mode includes all fingers of the dexterous hand, the controlled finger combination corresponding to the second control mode includes the index finger and thumb of the dexterous hand, and the controlled finger combination corresponding to the third control mode includes the index finger of the dexterous hand.

[0163] Optionally, the control module 620 is used to: determine a controlled finger combination corresponding to the target control mode of the dexterous hand; for each controlled finger in the controlled finger combination corresponding to the target control mode, control each joint in the controlled finger by driving a motor to move according to the degree of freedom of the controlled finger in the target control mode; wherein the degrees of freedom of the same finger in different control modes are not exactly the same.

[0164] Optionally, the operation instruction is sent by a handle, and a specific button is provided on the handle, and the force information is determined by the pressing stroke of the specific button when the user performs a pressing operation.

[0165] Optionally, the control module 620 is used to: determine the drive mapping ratio of the target control mode from the drive mapping ratios corresponding to the multiple control modes, wherein the drive mapping ratio is used to characterize the ratio between the travel range of a specific key and the output of the drive motor, and the greater the pressing travel, the greater the rotation angle of the joint controlled by the drive motor, and the drive mapping ratios corresponding to the multiple control modes are different; according to the drive mapping ratio and force information of the target control mode, each joint in the controlled finger combination corresponding to the target control mode is controlled by the drive motor to move.

[0166] Optionally, the driving mapping ratio of the first control mode is greater than the driving mapping ratio of the second control mode, and the driving mapping ratio of the first control mode is less than the driving mapping ratio of the third control mode.

[0167] Optionally, the control module 620 is used to: if the target control mode is the second control mode, and the pressing stroke is determined to be not zero based on the force information, determine the controlled rotation angle of each joint in the controlled finger combination corresponding to the target control mode when the pressing stroke is the maximum stroke of a specific key based on the drive mapping ratio of the second control mode; divide the limited rotation angle of the controlled finger combination corresponding to the target control mode in the second control mode into a preset angle and a controlled rotation angle, and control each joint in the controlled finger combination corresponding to the target control mode to be adjusted to the preset angle by driving the motor; and control each joint in the controlled finger combination corresponding to the target control mode to start moving from the preset angle by driving the motor based on the drive mapping ratio and the force information.

[0168] Optionally, the control module 620 is used to: control the movement of each joint in the controlled finger combination corresponding to the target control mode by driving the motor according to the drive mapping ratio and force information of the target control mode; for each controlled finger in the controlled finger combination corresponding to the target control mode, when the controlled finger contacts the target object, control the controlled finger to stop moving, and determine the static stroke of the controlled finger; determine the output torque of the controlled finger based on the static stroke, the pressing stroke represented by the force information and the maximum output torque of the controlled finger under the target control mode, wherein the maximum output torque of the controlled finger under different control modes is different.

[0169] Optionally, the dexterous hand control device 600 also includes a sending module 640; the sending module 640 is used to determine the number of controlled fingers in contact with the target object in the controlled finger combination corresponding to the target control mode; determine the specific damping according to the number and a preset damping matching rule; and send a damping update instruction to the handle according to the specific damping.

[0170] The embodiment of the present application provides a dexterous hand control device, which receives an operation instruction including force information, and then controls the movement of each joint in the controlled finger combination corresponding to the target control mode through the drive motor in the dexterous hand according to the target control mode of the dexterous hand and the force information in the operation instruction. Among them, the target control mode is one of a plurality of preset control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode. With such a setting, by disassembling the complex multi-finger collaborative control into the control of the corresponding controlled finger combination in different control modes, the user no longer needs to operate each finger individually through a large number of buttons, and only needs to output the force information on the handle to complete the collaborative control of the controlled finger combination in the target control mode, thereby reducing the complexity of dexterous hand control.

[0171] It should be understood that the operations and functions of the receiving module 610, the control module 620, the adjustment module 630 and the sending module 640 in the above embodiment can refer to the above Figure 2 or Figure 4 In order to avoid repetition, the description of the dexterous hand control method provided in the embodiment will not be repeated here.

[0172] Figure 7 FIG. 1 is a schematic diagram of a dexterous hand control device provided by another exemplary embodiment of the present application. The dexterous hand control device can be applied to a handle, and the handle is used to interact with the dexterous hand. The dexterous hand includes a palm, multiple fingers, and at least one drive motor. Figure 7 As shown, the dexterous hand control device 700 includes: a generating module 710 and a sending module 720 .

[0173] The generating module 710 is used to generate force information according to the pressing stroke when the user performs a pressing operation on a specific key in the handle.

[0174] The sending module 720 is used to generate an operation instruction based on the force information, and send the operation instruction to the dexterous hand, so that the dexterous hand can move each joint in the controlled finger combination corresponding to the target control mode by driving the motor according to the target control mode of the dexterous hand and the force information in the operation instruction; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the driving motor in the corresponding control mode.

[0175] The embodiment of the present application provides a dexterous hand control device, which determines the force information by the user pressing a specific button on the handle, and then generates an operation instruction according to the target force information, so that the dexterous hand can control the movement of each joint in the controlled finger combination corresponding to the target control mode according to the force information. With such a setting, when interacting with different objects, each joint in the controlled finger combination can be controlled to rotate to different angles by pressing a specific button on the handle, thereby ensuring the matching degree between the dexterous hand and the object it interacts with. Without setting a button corresponding to each finger or joint in the dexterous hand, the coordinated control of each multi-degree-of-freedom mechanical finger in the dexterous hand can be achieved, reducing the control difficulty.

[0176] Optionally, the generating module 710 is used to generate information of the target control mode based on the mode selection operation of the user on the handle; the sending module 720 is used to generate a mode selection instruction according to the information of the target control mode, and send the mode selection instruction to the dexterous hand, so that the dexterous hand adjusts the posture of each finger of the dexterous hand to the initial posture corresponding to the target control mode according to the information of the target control mode in the mode selection instruction; wherein the initial posture of each finger in the dexterous hand corresponding to multiple control modes is different.

[0177] Optionally, the dexterous hand control device 700 also includes a receiving module 730, which is used to: receive a damping update instruction sent by the dexterous hand, determine a specific damping according to the damping update instruction and a preset damping matching rule, and update the damping of a specific button to the specific damping.

[0178] It should be understood that the operations and functions of the generating module 710, the sending module 720 and the receiving module 730 in the above embodiment can refer to the above Figure 5 In order to avoid repetition, the description of the dexterous hand control method provided in the embodiment will not be repeated here.

[0179] Figure 8The block diagram of an electronic device 800 for executing a dexterous hand control method provided by an exemplary embodiment of the present application is shown. The electronic device 800 may specifically be a server, a robot, a handle, a server or other device interacting with a robot or a handle.

[0180] Reference Figure 8 , the electronic device 800 includes a processing component 810, which further includes one or more processors, and a memory resource represented by a memory 820 for storing instructions executable by the processing component 810, such as an application. The application stored in the memory 820 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 810 is configured to execute instructions to perform the above-mentioned dexterous hand control method.

[0181] The electronic device 800 may also include a power supply component configured to perform power management of the electronic device 800, a wired or wireless network interface configured to connect the electronic device 800 to a network, and an input / output (I / O) interface. The electronic device 800 may be operated based on an operating system stored in the memory 820, such as Windows Server 2000. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0182] A non-temporary computer-readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 800, enables the electronic device 800 to execute a dexterous hand control method.

[0183] A computer program product includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the dexterous hand control method provided by any of the above embodiments.

[0184] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0185] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0186] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0187] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0188] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0190] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0191] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0192] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0193] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dexterous hand control method, characterized in that: Applied to a dexterous hand, the dexterous hand comprises a palm, a plurality of fingers and at least one driving motor, and the dexterous hand control method comprises: Receive operation instructions; According to the target control mode of the dexterous hand and the force information in the operation instruction, the drive motor controls the movement of each joint in the controlled finger combination corresponding to the target control mode; wherein the target control mode is one of a plurality of control modes, and the plurality of control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode.

2. The dexterous hand control method according to claim 1, characterized in that: The dexterous hand control method also includes: Receive mode selection command; According to the information of the target control mode in the mode selection instruction, the posture of each finger in the dexterous hand is adjusted to the initial posture corresponding to the target control mode; wherein the initial postures of each finger in the dexterous hand corresponding to the multiple control modes are different.

3. The dexterous hand control method according to claim 1, characterized in that: The multiple control modes include a first control mode, a second control mode and a third control mode. The controlled finger combination corresponding to the first control mode includes all the fingers of the dexterous hand, the controlled finger combination corresponding to the second control mode includes the index finger and thumb of the dexterous hand, and the controlled finger combination corresponding to the third control mode includes the index finger of the dexterous hand.

4. The dexterous hand control method according to claim 1, characterized in that: According to the target control mode of the dexterous hand and the force information in the operation instruction, the driving motor controls each joint in the controlled finger combination corresponding to the target control mode to move, including: Determine a controlled finger combination corresponding to the target control mode of the dexterous hand; For each controlled finger in the controlled finger combination corresponding to the target control mode, the driving motor is used to control the joints in the controlled finger so that the controlled finger moves according to the degree of freedom of the controlled finger in the target control mode; wherein the degrees of freedom of the same finger in different control modes are not exactly the same.

5. The dexterous hand control method according to claim 1, characterized in that: The operation instruction is sent by a handle, and a specific button is arranged on the handle. The force information is determined by the pressing stroke of the specific button when the user performs a pressing operation.

6. The dexterous hand control method according to claim 5, characterized in that: According to the target control mode of the dexterous hand and the force information in the operation instruction, the driving motor controls each joint in the controlled finger combination corresponding to the target control mode to move, including: Determining the drive mapping ratio of the target control mode from the drive mapping ratios respectively corresponding to the multiple control modes, wherein the drive mapping ratio is used to characterize the ratio between the travel interval of a specific key and the output of the drive motor, the larger the pressing travel, the larger the rotation angle of the joint controlled by the drive motor, and the drive mapping ratios corresponding to the multiple control modes are different; According to the driving mapping ratio of the target control mode and the force information, each joint in the controlled finger combination corresponding to the target control mode is controlled by the driving motor to move.

7. The dexterous hand control method according to claim 6, characterized in that: The driving map ratio of the first control mode is greater than the driving map ratio of the second control mode, and the driving map ratio of the first control mode is less than the driving map ratio of the third control mode.

8. The dexterous hand control method according to claim 7, characterized in that: The step of controlling the joints corresponding to the controlled finger to move by the driving motor according to the driving mapping ratio and the force information includes: If the target control mode is the second control mode, and it is determined according to the force information that the pressing stroke is not zero, determining, according to the drive mapping ratio of the second control mode, the control rotation angle of each joint in the controlled finger combination corresponding to the target control mode when the pressing stroke is the maximum stroke of the specific key; The limited rotation angle of the controlled finger combination corresponding to the target control mode in the second control mode is divided into a preset angle and a controlled rotation angle, and each joint in the controlled finger combination corresponding to the target control mode is controlled by the drive motor to be adjusted to the preset angle; According to the drive mapping ratio and the force information, each joint in the controlled finger combination corresponding to the target control mode is controlled by the drive motor to start moving from the preset angle.

9. The dexterous hand control method according to claim 6, characterized in that: According to the driving mapping ratio of the target control mode and the force information, controlling each joint in the controlled finger combination corresponding to the target control mode to move by the driving motor includes: According to the driving mapping ratio of the target control mode and the force information, controlling each joint in the controlled finger combination corresponding to the target control mode to move through the driving motor; For each controlled finger in the controlled finger combination corresponding to the target control mode, when the controlled finger contacts the target object, control the controlled finger to stop moving, and determine the static stroke of the controlled finger; The output torque of the controlled finger is determined according to the static stroke, the pressing stroke represented by the force information and the maximum output torque of the controlled finger under the target control mode, wherein the maximum output torque of the controlled finger is different under different control modes.

10. The dexterous hand control method according to claim 9, characterized in that: The method further comprises: Determining the number of controlled fingers in the controlled finger combination corresponding to the target control mode that are in contact with the target object; Determining specific damping according to the quantity and a preset damping matching rule; According to the specific damping, a damping update instruction is sent to the handle.

11. A dexterous hand control method, characterized in that: Applied to a handle, the handle is used to interact with a dexterous hand, the dexterous hand includes a palm, multiple fingers and at least one driving motor, and the dexterous hand control method includes: generating force information according to a pressing stroke when a user performs a pressing operation on a specific key in the handle; Based on the force information, an operation instruction is generated and sent to the dexterous hand, so that the dexterous hand controls the joints in the controlled finger combination corresponding to the target control mode through the drive motor to move according to the target control mode of the dexterous hand and the force information in the operation instruction; wherein the target control mode is one of multiple control modes, and the multiple control modes correspond to different controlled finger combinations, and each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode.

12. The dexterous hand control method according to claim 11, characterized in that: The method further comprises: Generate information of a target control mode based on a mode selection operation of the user on the handle; Based on the information of the target control mode, a mode selection instruction is generated, and the mode selection instruction is sent to the dexterous hand, so that the dexterous hand adjusts the posture of each finger in the dexterous hand to the initial posture corresponding to the target control mode according to the information of the target control mode in the mode selection instruction; wherein the initial postures of each finger in the dexterous hand corresponding to the multiple control modes are different.

13. The dexterous hand control method according to claim 11, characterized in that: The method further comprises: receiving a damping update instruction sent by the dexterous hand; Determining specific damping according to the damping update instruction and a preset damping matching rule; The damping of the specific key is updated to the specific damping.

14. A dexterous hand, characterized in that: The dexterous hand comprises a palm, multiple fingers, at least one driving motor and a control module, and the control module is used to execute the dexterous hand control method described in any one of claims 1 to 10.

15. A handle, characterized in that: It comprises a control module, and the control module is used to execute the dexterous hand control method described in any one of claims 11 to 13.

16. A robot control system, characterized in that: include: A handle, used to: generate force information according to a pressing stroke when a user performs a pressing operation on a specific key in the handle, generate an operation instruction according to the force information, and send the operation instruction to the dexterous hand; The dexterous hand is used to: receive the operation instruction, and according to the target control mode of the dexterous hand and the force information in the operation instruction, control the joints in the controlled finger combination corresponding to the target control mode to move through the drive motor; wherein the target control mode is one of multiple control modes, the multiple control modes correspond to different controlled finger combinations, each controlled finger combination includes fingers controlled by the drive motor in the corresponding control mode, and the dexterous hand includes a palm, multiple fingers and at least one drive motor.

17. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the dexterous hand control method according to any one of claims 1 to 13.

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