Bionic artificial finger driven by residual finger and control method thereof

Abstract

The invention discloses a bionic prosthetic finger driven by a residual finger. The bionic prosthetic finger comprises a hand back supporting device, a prosthetic finger driving assembly, a prosthetic finger assembly and a residual finger signal collecting assembly. The residual finger signal acquisition assembly comprises a fixed connecting piece, a finger sleeve piece and a sensing piece, the near end of the fixed connecting piece is fixedly connected to the hand back supporting device or a certain knuckle of a residual finger, and the far end of the fixed connecting piece is hinged to the finger sleeve piece. During use, residual fingers penetrate through the lantern ring. The bionic artificial finger can simulate bending and stretching motions of human fingers to a great extent to achieve a natural bionic effect, has the advantages of being simple in overall structure, high in reliability, controllable in cost and the like, and meanwhile can conveniently achieve personal customization. In the aspect of the control scheme, the residual finger is used as a source of the prosthetic finger control signal, so that the prosthetic finger can be conveniently and quickly controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of prosthetic limbs, and in particular to a bionic artificial finger driven by a residual finger and a control method thereof. Background Art

[0002] People with finger disabilities currently wear cosmetic prosthetic fingers, which are merely decorative and have no motor function. They cannot bend or move like natural fingers, and cannot assist disabled people in performing movements. There are currently prosthetic fingers that can assist disabled people in performing movements, but most of them have problems such as high prices and complex structures.

[0003] The applicant has applied for several patents on artificial fingers. The patent CN219070814U has been published so far. It uses the defective finger root to drive the bionic artificial finger movement. The overall structure is simple, the production cost is controllable, and it can also be customized relatively quickly, which is conducive to the large-scale promotion and application of the product. However, in the case of finger disability, one or more fingers are completely missing (such as attached Figure 1 Only the thumb and little finger are left as shown) is a common situation. There is a lack of widely used solutions for how to restore the movement ability of the prosthetic finger to achieve hand function in this case. Currently, the field obtains surface electromyography signals from the forearm to control the movement of the prosthetic finger. However, this method has many problems, such as the collected surface electromyography signals cannot accurately reflect the user's movement intention for the prosthetic finger, the surface electromyography signals themselves are unstable, and the surface electromyography signals cannot accurately control the prosthetic finger. Summary of the Invention

[0004] The purpose of the present invention is to provide a bionic artificial finger driven by a residual finger and a control method thereof, so as to solve the problems existing in the prior art.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a bionic artificial finger driven by a remaining finger, including a hand back support device, an artificial finger driving component, an artificial finger component, and a remaining finger signal acquisition component; the artificial finger component includes at least one single-finger artificial finger unit; the remaining finger signal acquisition component includes a fixed connection component, a finger kit, and a sensor component, the proximal end of the fixed connection component is fixedly connected to the hand back support device or a certain knuckle of the remaining finger, and the distal end is hinged to the finger kit, the finger kit includes a connecting side plate and a ring, the proximal end of the connecting side plate is hinged to the distal end of the fixed connection component, and the sensor component is used to detect the relative rotation angle between the fixed connection component and the finger kit.

[0006] Furthermore, the sensor is a rotation sensor, which is arranged at the hinge of the fixed connection member and the finger sleeve; or the sensor is a bending sensor, one side of which is fixed to the fixed connection member and the other side extends into the groove of the finger sleeve to achieve sliding fit.

[0007] Furthermore, the finger driving assembly includes a control unit, a plurality of driving motors, and a driving mounting plate. The driving mounting plate is fixed on the dorsal hand support device. The control unit and the driving motors are arranged on the driving mounting plate, and the finger assembly is connected to the distal end of the driving mounting plate. One end of the driving motor is hinged or fixedly connected to the driving mounting plate, and the other end is connected to the single-finger unit through a finger connecting member.

[0008] Furthermore, the dorsal hand support device includes a dorsal hand bionic support plate, a wrist fixing member, a palm fixing member, and a dorsal hand housing. The lower surface of the dorsal hand bionic support plate is attached to the dorsal hand and is fixed on the user's dorsal hand through the wrist fixing member at the lower part and the palm fixing member at the upper part. The dorsal hand housing is fixed on the dorsal hand bionic support plate and is used to cover the finger driving assembly.

[0009] Furthermore, the single-finger unit includes a proximal phalanx driving mechanism, a proximal phalanx, an intermediate phalanx, and a distal phalanx. The proximal phalanx driving mechanism includes a base, a slider, and a connecting rod. The base is fixed to the distal end of the driving mounting plate. The slider is slidably connected to the upper surface of the base. One end of the connecting rod is hinged to the slider, and the other end is hinged to the single-finger unit. The driving motor pushes the slider to move back and forth through the finger connecting member, and the slider drives the single-finger unit to act through the connecting rod. Alternatively, the proximal phalanx driving mechanism includes a base fixed to the distal end of the driving mounting plate. The proximal end of the driving motor is hinged to the driving mounting plate, and the distal end is hinged to the single-finger unit.

[0010] Furthermore, one driving motor drives one or more single-finger units through a finger connecting member. The finger connecting member is a connecting plate or a connecting rod.

[0011] Further, two through holes arranged vertically are provided at the distal end of the base; the finger root phalanx includes a connecting frame and a connecting rod; the connecting frame includes a shaped connecting rod, a central connecting frame, and a distal connecting rod; the central connecting frame is a frame structure with a through hole in the center, and one Y-shaped connecting rod is provided on each side of the proximal end of the central connecting frame, and a distal connecting rod is provided at the center of the distal end, wherein the distal connecting rod bends downward, and the Y-shaped connecting rod bends upward. The Y-shaped connecting rod is in a Y shape, and two rod ends are provided at its proximal end, both of which are provided with hinge holes. The lower end hole of the lower part is hinged to the lower end hole of the distal end of the base, and the upper end hole of the upper part is hinged to the distal end of the connecting rod of the finger root pushing mechanism or hinged to the output shaft of the driving motor; the distal end of the connecting rod bends downward, passes through the through hole in the center of the central connecting frame, and two hinge holes are provided at the distal end. The two hinge holes are arranged obliquely, that is, one in front and one behind, one above and one below; the middle phalanx includes a connecting cross bar, an L-shaped connecting rod, and a housing; hinge holes are provided at both ends of the connecting cross bar, and the L-shaped vertical rod of the L-shaped connecting rod is arranged at the proximal end, and hinge holes are provided at the upper and lower ends thereof and at the distal end of the cross bar of the shaped connecting rod; the connecting cross bar, the L-shaped connecting rod are arranged side by side and are located on both sides of the connecting frame and the distal end of the connecting rod; the proximal hinge hole of the connecting cross bar is hinged to the rear hinge hole of the finger root phalanx connecting rod through a pin, the hinge hole at the lower part of the L-shaped vertical rod of the shaped connecting rod is connected to the front hole of the finger root phalanx connecting rod, and the hinge hole at the upper part of the L-shaped vertical rod of the L-shaped connecting rod is hinged to the end of the distal connecting rod of the finger root phalanx; there is a protrusion at the rear end of the fingertip phalanx, and there are two holes, one above the other, on the large surface of the protrusion. The upper hole is connected to the hole at the distal end of the connecting cross bar of the middle phalanx through a pin, and the lower hole is connected to the hole at the distal end of the L-shaped connecting rod through a pin.

[0012] The present invention also discloses a control method for a bionic artificial finger, which specifically includes the following steps: S1. The control unit receives the residual finger motion data detected by the residual finger signal acquisition component. The motion data includes the absolute angle value and angular acceleration of the finger or phalanx bending; S2. The control unit controls the driving motor of the artificial finger driving component to act according to the preset corresponding relationship to realize the control of the motion of the artificial finger component, which specifically includes the following contents: S21. Test the minimum and maximum absolute angle values collected by the residual finger signal acquisition component of the user, and establish the corresponding relationship between the angle value of the residual finger or phalanx bending and the angle value of the single finger artificial finger unit bending; then determine the corresponding relationship between the angle value and angular acceleration of the residual finger or phalanx bending and the stroke and acceleration of the driving motor according to this corresponding relationship; S22. When the absolute value angle of the residual finger detected by the residual finger signal acquisition component is greater than the minimum absolute angle value, the control unit calculates the angular velocity from the angular acceleration and converts it into the current speed of the driving motor and drives the driving motor to act at this speed; when the instantaneous speed is, the driving motor stops moving.

[0013] The bionic artificial finger involved in the present invention can largely simulate the bending and stretching movements of the human finger, achieving the effect of natural bionics. Moreover, the overall structure is simple, with advantages such as high reliability and controllable cost, and personal customization can also be conveniently achieved.

[0014] In terms of control, by using the remaining finger as the source of the artificial finger control signal, the movement intention of the user for the artificial finger can be accurately reflected; the movement signal of the remaining finger is clear and accurate, and the artificial finger can be accurately controlled in a follow-up manner.

[0015] To make the concept, other purposes, advantages, features and functions of the present invention clearer and easier to understand, preferred embodiments will be specifically cited in the following specific implementation manners, and detailed explanations will be made in conjunction with the accompanying drawings. Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Schematic diagram of the hand of the applicable finger-disabled population for the present invention; Figure 2 Overall schematic diagram of the technical solution of an embodiment of the present invention; Figure 4 Exploded schematic diagram of the technical solution of an embodiment of the present invention; Figure 3 Partial schematic diagram of an embodiment of the present invention; Figure 5 Partial schematic diagram of another embodiment of the present invention; Figure 6 Exploded partial schematic diagram of another embodiment of the present invention; Figure 7 Exploded schematic diagram of the single-finger artificial finger unit of an embodiment of the present invention; Figure 8 Schematic diagram of the remaining finger signal acquisition component of an embodiment of the present invention; Figure 9 Exploded schematic diagram of the remaining finger signal acquisition component of an embodiment of the present invention; Figure 10 Schematic diagram of the remaining finger signal acquisition component of another embodiment of the present invention; Figure 11 Exploded schematic diagram of the remaining finger signal acquisition component of another embodiment of the present invention; Figure 12Schematic diagram of the residual finger signal acquisition component according to another embodiment of the present invention; Figure 13 Exploded schematic diagram of the residual finger signal acquisition component according to another embodiment of the present invention. Detailed Description of the Invention

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] As shown in the attached Figures 2 - 7 figures, a bionic artificial finger driven by a residual finger according to the present invention includes a dorsal hand support device 10, an artificial finger drive assembly 20, an artificial finger assembly 30, and a residual finger signal acquisition component 40.

[0020] As shown in the attached Figure 1 , 2 , and FIG. 3, the dorsal hand support device 10 includes a dorsal hand bionic support plate 100, a wrist fixing member 101, a palm fixing member 102, and a dorsal hand housing 103; the lower surface of the dorsal hand bionic support plate 100 is attached to the dorsal hand and is fixed on the user's dorsal hand through the lower wrist fixing member 101 and the upper palm fixing member 102. The wrist fixing member 101 and the palm fixing member 102 can be soft material strips, and further can be closed elastic strips, such as latex fixing bands, or can be strips provided with open ends, and the open ends are provided with openable structures, such as nylon adhesives, buckles, etc. The dorsal hand housing 103 is fixed on the dorsal hand bionic support plate 100 and is used to cover the artificial finger drive assembly 20 to protect it from external force damage.

[0021] The artificial finger drive assembly 20 includes a control unit 200, a drive motor 201, and a drive mounting plate 203, which are arranged in the cavity between the dorsal hand housing 103 and the dorsal hand bionic support plate 100.

[0022] The drive mounting plate 203 is connected to the dorsal hand bionic support plate 100. The control unit 200 and the drive motor 201 are arranged on the drive mounting plate 203. The artificial finger assembly 30 is connected to the distal end of the drive mounting plate 203. The distal end and the proximal end are determined with the own torso as a reference after the bionic artificial finger is worn. The proximal end refers to the end close to the torso, and the end far from the torso is the distal end.

[0023] One end of the driving motor 201 is hinged or fixedly connected to the driving mounting plate 203, and the other end is connected to the finger-like component 30 through the finger-like connecting piece 2011. When the motor operates, it drives the fingers of the finger-like component 30 to bend or straighten.

[0024] The control unit 200 is an integrated circuit board fixed on the driving mounting plate 203. There are multiple interfaces installed on it. Some of these interfaces are for external batteries, some are for connecting the driving motor, and some are for connecting sensors. Its function is to convert the composite signals collected by the sensors into corresponding rotations of the driving motor and drive the linear motion of its push rod, thereby pushing the slider to slide, and finally driving the bending or straightening of the mechanical fingers, so that the motion of the mechanical fingers follows the motion of the remaining fingers.

[0025] The finger-like component 30 includes at least one single-finger finger-like unit 301, and 3 are shown in the attached drawings.

[0026] The single-finger finger-like unit 301 includes a finger root pushing mechanism f1, a finger root phalanx f2, an intermediate phalanx f3, and a fingertip phalanx f4.

[0027] In an embodiment of the present application, the finger root pushing mechanism f1 is composed of a base f11, a slider f12, and a connecting rod f13.

[0028] The base f11 is fixed to the distal end of the driving mounting plate 203, and the base f11 is fixed in the groove f110 at the distal end of the driving mounting plate 203.

[0029] The slider f12 is slidably connected to the upper surface of the base f11. Specifically, corresponding grooves or protrusions can be provided on the upper surface of the base f11.

[0030] One end of the connecting rod f13 is hinged to the slider, and the other end is hinged to the upper hole of the two hinged holes at the proximal end of the connecting frame f21 of the finger root phalanx f2.

[0031] Two through holes arranged vertically are provided at the distal end of the base f11. The upper hole f11a at the proximal end is hinged to the hinged hole at the proximal end of the connecting rod f22 of the finger root phalanx f2; the lower hole f11b at the distal end of the base is hinged to the lower hole of the two hinged holes at the proximal end of the connecting frame f21; The finger root phalanx f2 includes a connecting frame f21 and a connecting rod f22.

[0032] The connecting frame f21 includes a Y-shaped connecting rod f211, a central connecting frame f212, and a distal connecting rod f213.

[0033] The central connection frame f212 is a frame structure with a through hole in the center. On both sides of the proximal end of the central connection frame f212, there is a Y-shaped connecting rod f211 respectively. At the central part of the distal end, there is a distal connecting rod f213. Among them, the distal connecting rod f213 bends downward, and the Y-shaped connecting rod f211 bends upward. The Y-shaped connecting rod f211 is in a Y shape, and there are two rod ends at its proximal end, both provided with hinge holes. Among them, the lower end hole f211b of the lower part is hinged to the lower end hole at the distal end of the base, and the upper end hole f211a of the upper part is hinged to the distal end of the connecting rod f13.

[0034] The distal end of the connecting rod f22 bends downward, passes through the through hole in the center of the central connection frame f212, and there are two hinge holes at the distal end. The two hinge holes are arranged obliquely, that is, one in front and one behind, one above and one below. Its distal end is in a T shape, or is provided with a flat part. There is a hinge hole at the proximal end. Among them, the hinge hole at the proximal end is hinged to the upper end hole at the distal end of the base f11.

[0035] The middle phalanx f3 includes a connecting cross bar f31, an L-shaped connecting rod f32, and a housing f33. There are hinge holes at both ends of the connecting cross bar f31. The L-shaped vertical rod of the L-shaped connecting rod f32 is arranged at the proximal end, and there are hinge holes at its upper and lower ends, as well as at the distal end of the cross bar of the L-shaped connecting rod f32. The connecting cross bar f31, the L-shaped connecting rod f32 are arranged side by side, and are located on both sides of the distal ends of the connecting frame f21 and the connecting rod f22.

[0036] The hinge hole at the proximal end of the connecting cross bar f31 is hinged to the rear hinge hole f213b of the connecting rod f22 of the proximal phalanx f2 through a pin. The hinge hole f32b at the lower part of the L-shaped vertical rod of the L-shaped connecting rod f32 is connected to the front hole f213a of the connecting rod f22 of the proximal phalanx f2. The hinge hole f32a at the upper part of the L-shaped vertical rod of the L-shaped connecting rod f32 is hinged to the end of the distal connecting rod f213 of the proximal phalanx f2.

[0037] The hinge holes at the distal ends of the connecting cross bar f31 and the L-shaped connecting rod f32 are hinged to the two vertically arranged hinge holes at the proximal end of the fingertip phalanx f4; the housing f33 is a hollow tubular column. The connecting cross bar f31 and the L-shaped connecting rod f32 pass through it. The housing f33 is fixed to the L-shaped connecting rod f32. Specifically, there are through holes at the front and rear ends of the housing f33. When the L-shaped connecting rod is connected to the hinge hole at one corner and one end, the pin passes through the through holes at the front and rear ends of the housing f33 to realize the rotation of the housing f33 and the L-shaped connecting rod together. The bottom of the housing is used to contact and grasp an object. The housing f33 can also be on the connecting cross bar f31. The housing f33 can also be connected to the connecting cross bar f31 and the L-shaped connecting rod f32 through a separate through hole by a pin. The housing 33 includes a rigid main body part f332 and a soft housing f331.

[0038] The front end of the fingertip phalanx f4 is a bionic fingertip, and there is a protrusion at the rear end. There are two upper and lower holes on the large surface of the protrusion. The upper hole is connected to the hole at the distal end of the crossbar f31 of the middle phalanx f3 through a pin, and the lower hole is connected to the hole at the distal end of the L-shaped connecting rod f32 through a pin; the bionic fingertip is used to contact and grasp objects.

[0039] During use, the driving motor 201 pushes the slider f12 to move back and forth through the finger prosthesis connecting piece 2011. The slider f12 drives the connecting frame f21 to swing up and down through the connecting rod f13, thereby realizing the movement of the single-finger prosthesis unit 301.

[0040] One driving motor 201 can be correspondingly arranged for one single-finger prosthesis unit 301. At this time, the finger prosthesis connecting piece 2011 can be a connecting rod.

[0041] Or a plurality of single-finger prosthesis units 301 can share one driving motor 201. At this time, the finger prosthesis connecting piece 2011 is a connecting plate, one side is connected to the output shaft of the driving motor 201, and the other is connected to the sliders f12 of the plurality of single-finger prosthesis units 301. As shown in the attached Figure 3 、 4 As shown, the finger prosthesis connecting piece 2011 is in a plate shape, and the front end is connected to the slider through a bolt structure, and its connecting holes are arranged according to the positional relationship of the single-finger prosthesis unit 301.

[0042] As shown in the attached Figure 5 、 6 In another embodiment of the present application as shown, the finger root pushing mechanism f1 only includes a base f11. The finger prosthesis connecting piece 2011 is rod-shaped, passes through the upper end holes at the proximal upper parts of the connecting frames f21 of the finger root phalanges f2 of a plurality of single-finger prosthesis units and the output shaft of the driving motor 201. At this time, the proximal end of the driving motor 201 is hinged to the driving mounting plate 203.

[0043] As shown in the attached Figures 8 - 13 As shown, the residual finger signal acquisition component 40 includes a fixed connecting piece 401, a finger sleeve 402, and a sensing piece 403. The proximal end of the fixed connecting piece 401 is fixedly connected to the hand back support device 10 (as shown in the attached Figure 2 、 8 、10) or a certain phalanx of the residual finger (as shown in the attached Figure 12 ), and the distal end is hinged to the finger sleeve 402. The finger sleeve 402 includes a connecting side plate and a collar. The proximal end of the connecting side is hinged to the distal end of the fixed connecting piece 401. The collar is arranged at the distal end of the connecting side plate and is a ring structure. The connecting side plate and the collar are integrally formed. During use, the residual finger passes through the collar, driving the finger sleeve 402 to rotate relative to the fixed connecting piece 401.

[0044] As shown in the attached Figure 12The finger kit 40 can be arranged on one phalanx of the remaining finger, specifically the proximal phalanx, or it can also be the middle phalanx. At this time, the finger kit 402 is arranged on the phalanx distal to this phalanx.

[0045] As shown in the attached Figure 11 、 13 figure, the sensing member 403 is a rotation sensing member, used to detect the relative rotation angle between the fixed connecting member 401 and the finger kit 402. It can be a common rotation sensing member, such as an angle sensor, etc., and can be arranged at the hinge joint of the fixed connecting member 401 and the finger kit 402.

[0046] As shown in the attached Figure 9 figure, the sensing member 403 can also be a bending sensor. In an embodiment of the present application, a Flex sensor bending sensor is adopted, which includes an integrated circuit part and a bending sensor part. The integrated circuit part is fixed on the fixed connecting member 401, one side of the bending sensor part is fixed to the integrated circuit part, and the other side is inserted into the slot on the finger kit 402 to realize sliding. When the finger kit 402 moves downward, the bending sensor part can detect the degree of bending.

[0047] The sensing member 403 can also include a force sensing member, which is arranged on the upper part of the fixed connecting member 401. When the finger kit 402 moves downward, the connecting piece arranged on the upper part of the finger kit 402 pulls the force sensing member, and the downward movement situation of the finger kit 402 is determined by detecting the force received by the force sensing member.

[0048] The specific connection method between the fixed connecting member 401 and the hand back support device 10 can be as follows. The fixed connecting member 401 is fixedly connected to the hand back bionic support plate 100 or the palm fixing member 102. The attached figure shows it on the palm fixing member 102. The hand back bionic support plate 100 or the palm fixing member 102 in the connection area of the fixed connecting member 401 is made of a hard material and is provided with a connection through groove. The corresponding position of the fixed connecting member 401 is also provided with a connection through groove and its shape fits the shape of the hand back bionic support plate 100 or the palm fixing member 102 in the connection area, and fixation is achieved by passing a connecting belt or a clamping plate 404 through the connection through groove.

[0049] The present application also provides a control method for a bionic artificial finger driven by a remaining finger, specifically including the following steps: S1. The control unit 200 receives the remaining finger motion data detected by the remaining finger signal acquisition component 40. The motion data includes the absolute angle value and angular acceleration of finger or phalanx bending. S2. The control unit controls the driving motor 201 of the artificial finger driving component 20 to act according to a preset corresponding relationship to realize the control of the motion of the artificial finger component 30. The specific content is as follows: S21. Due to the limitations of the actual bending angle of the human finger and individual differences, the minimum and maximum absolute angle values collected by the residual finger signal acquisition component 40 of the user are obtained through testing. The control unit converts the minimum and maximum absolute angle values collected by the residual finger signal acquisition component 40 into the minimum and maximum stroke limit values of the driving motor 201 through a preset corresponding relationship. The preset corresponding relationship is related to the stroke of the driving motor and the dimensions of each component of the finger prosthesis driving component 20 and the finger prosthesis component 30, and the dimensions of each component of the finger prosthesis driving component 20 and the finger prosthesis component 30 are related to the physical conditions of the user. One corresponding relationship is to establish the corresponding relationship between the bending angle value of the residual finger or finger joint and the bending angle value of the single-finger prosthesis unit 301, which can be a full-range linear relationship, that is, when the residual finger bends a certain number of degrees, the single-finger prosthesis unit 301 follows and bends by that angle or a multiple of that angle; it can also be two or more linear intervals. For example, within a certain initial angle range, the bending angle value of the single-finger prosthesis unit 301 is the first multiple of the bending angle value of the residual finger or finger joint, and within a subsequent angle range, it is the second multiple. Generally, the first multiple is larger. Then, based on the above-mentioned corresponding relationship between the bending angle values, combined with the stroke of the driving motor and the dimensions of each component of the finger prosthesis driving component 20 and the finger prosthesis component 30, the driving motor stroke corresponding to the single-finger prosthesis unit 301 bending to a certain angle is calculated, and further, the corresponding relationship between the accelerations is calculated according to the above-mentioned corresponding relationship; S22. When the absolute angle of the residual finger detected by the residual finger signal acquisition component 40 is greater than the minimum absolute angle value, the control unit calculates the angular velocity using the angular acceleration and converts it into the current speed of the driving motor 201. The formula for the current speed is Vcurrent moment = Vprevious moment + at (a is the acceleration of the driving motor 201 converted from the angular velocity; t = current moment - previous moment), and the driving motor 201 is driven to act at this speed; since the acceleration can be positive or negative, the current speed obtained by the driving motor 201 can also be large or small; when the instantaneous speed is 0, the driving motor 201 stops moving; through the above control, the finger prosthesis can follow the residual finger.

[0050] In terms of safety, the control unit 200 controls the driving motor 201 to move only within the minimum and maximum stroke limit values.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] It should be noted that, unless otherwise clearly specified or limited, terms such as "installation", "connection", "linkage", "fixation", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The above are the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A bionic finger driven by a remaining finger, characterized in that, It includes a dorsal hand support device, a finger prosthesis drive assembly, a finger prosthesis assembly, and a residual finger signal acquisition assembly; the finger prosthesis assembly includes at least one single-finger prosthesis unit; the residual finger signal acquisition assembly includes a fixed connecting piece, a finger sleeve, and a sensing piece. The proximal end of the fixed connecting piece is fixedly connected to a certain phalanx of the dorsal hand support device or the residual finger, and the distal end is hinged to the finger sleeve. The finger sleeve includes a connecting side plate and a collar. The proximal end of the connecting side plate is hinged to the distal end of the fixed connecting piece. The sensing piece is used to detect the relative rotation angle between the fixed connecting piece and the finger sleeve.

2. The bionic finger according to claim 1, characterized in that, The sensing piece is a rotational sensing piece, which is arranged at the hinge joint between the fixed connecting piece and the finger sleeve; or the sensing piece is a bending sensor, and one side of the bending sensor part is fixed to the fixed connecting piece, and the other side extends into the slot of the finger sleeve to achieve a sliding fit.

3. The bionic finger according to claim 1, characterized in that, The finger prosthesis drive assembly includes a control unit, a plurality of drive motors, and a drive mounting plate. The drive mounting plate is fixed on the dorsal hand support device. The control unit and the drive motors are arranged on the drive mounting plate. The finger prosthesis assembly is connected to the distal end of the drive mounting plate; one end of the drive motor is hinged or fixedly connected to the drive mounting plate, and the other end is connected to the single-finger prosthesis unit through a finger prosthesis connecting piece.

4. The bionic finger according to claim 3, characterized in that, The dorsal hand support device includes a dorsal hand bionic support plate, a wrist fixing piece, a palm fixing piece, and a dorsal hand housing; the lower surface of the dorsal hand bionic support plate is attached to the dorsal hand and is fixed on the user's dorsal hand through the wrist fixing piece at the lower part and the palm fixing piece at the upper part. The dorsal hand housing is fixed on the dorsal hand bionic support plate and is used to cover the finger prosthesis drive assembly.

5. The bionic finger according to claim 3, characterized in that, The single-finger prosthesis unit includes a finger root pushing mechanism, a finger root phalanx, a middle phalanx, and a fingertip phalanx; the finger root pushing mechanism includes a base, a slider, and a connecting rod; the base is fixed to the distal end of the drive mounting plate, the slider is slidably connected to the upper surface of the base, one end of the connecting rod is hinged to the slider, and the other end is hinged to the single-finger prosthesis unit; the drive motor pushes the slider back and forth through the finger prosthesis connecting piece, and the slider drives the single-finger prosthesis unit to act through the connecting rod; Or the finger root pushing mechanism includes a base, the base is fixed to the distal end of the drive mounting plate, the proximal end of the drive motor is hinged to the drive mounting plate, and the distal end is hinged to the single-finger prosthesis unit.

6. The bionic finger according to claim 5, characterized in that, One drive motor drives one or more single-finger prosthesis units through a finger prosthesis connecting piece; the finger prosthesis connecting piece is a connecting plate or a connecting rod.

7. The bionic finger according to claim 3, characterized in that, There are two through holes arranged vertically at the distal end of the base; the finger root phalanx includes a connecting frame and a connecting rod; the connecting frame includes a shaped connecting rod, a central connecting frame, and a distal connecting rod; the central connecting frame is a frame structure with a through hole in the center. On both sides of the proximal end of the central connecting frame, there is a Y-shaped connecting rod respectively. At the central part of the distal end, there is a distal connecting rod. The distal connecting rod bends downward, and the Y-shaped connecting rod bends upward. The Y-shaped connecting rod is in a Y shape. At its proximal end, there are two rod ends, both provided with hinge holes. The lower end hole of the lower part is hinged to the lower end hole at the distal end of the base, and the upper end hole of the upper part is hinged to the distal end of the connecting rod of the finger root pushing mechanism or hinged to the output shaft of the driving motor; the distal end of the connecting rod bends downward, passes through the through hole in the center of the central connecting frame, and at the distal end, there are two hinge holes, and the two hinge holes are arranged obliquely, that is, one in front and one behind, one above and one below; the middle phalanx includes a connecting cross bar, an L-shaped connecting rod, and a housing; hinge holes are provided at both ends of the connecting cross bar. The L-shaped vertical rod of the L-shaped connecting rod is arranged at the proximal end, and hinge holes are provided at the upper and lower ends of the L-shaped vertical rod and at the distal end of the cross bar of the shaped connecting rod; the connecting cross bar, the L-shaped connecting rod are arranged side by side and are located on both sides of the connecting frame and the distal end of the connecting rod; the proximal hinge hole of the connecting cross bar is hinged to the rear hinge hole of the finger root phalanx connecting rod through a pin. The hinge hole at the lower part of the L-shaped vertical rod of the shaped connecting rod is connected to the front hole of the finger root phalanx connecting rod, and the hinge hole at the upper part of the L-shaped vertical rod of the L-shaped connecting rod is hinged to the end of the distal connecting rod of the finger root phalanx; there is a protrusion at the rear end of the fingertip phalanx. There are two holes, one above and one below, on the large surface of the protrusion. The upper hole is connected to the hole at the distal end of the connecting cross bar of the middle phalanx through a pin, and the lower hole is connected to the hole at the distal end of the L-shaped connecting rod through a pin.

8. A control method for the bionic artificial finger according to any one of claims 1-7, characterized in that, Specifically, it includes the following steps: S1. The control unit receives the residual finger motion data detected by the residual finger signal acquisition component. The motion data includes the absolute angle value and angular acceleration of the finger or phalanx bending. S2. The control unit controls the driving motor of the artificial finger driving component to act according to the preset corresponding relationship to realize the control of the artificial finger component motion. Specifically, it includes the following contents: S21. Test and obtain the minimum and maximum absolute angle values collected by the user's residual finger signal acquisition component, and establish the corresponding relationship between the angle value of the residual finger or phalanx bending and the angle value of the single-finger artificial finger unit bending; then, according to this corresponding relationship, determine the corresponding relationship between the angle value and angular acceleration of the residual finger or phalanx bending and the stroke and acceleration of the driving motor. S22. When the absolute value angle of the residual finger detected by the residual finger signal acquisition component is greater than the minimum absolute angle value, the control unit calculates the angular velocity using the angular acceleration and converts it into the current speed of the driving motor and drives the driving motor to act at this speed; when the instantaneous speed is, the driving motor stops moving.

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