Dexterous hand driving device and driving control method thereof

Abstract

The invention discloses a driving device of a dexterous hand and a driving control method of the driving device, and belongs to the field of robots. The driving device comprises at least two rotating shafts which are connected between finger joints of the dexterous hand and used for enabling the two connected finger joints to rotate; the at least one driving device is arranged in a cavity of a middle joint of the dexterous hand and can slide in the first direction, and the first direction is the direction parallel to the cavity wall of the middle joint; the at least two transmission devices are fixed in cavities of other joints except the middle joint of the dexterous hand and are connected with the driving device through cables; and the cable penetrates through the rotating shaft. According to the device, the driving device is matched with the transmission device, and the change degree of force at the end part and the tail part is controlled under the condition that the cable topology is not expanded.

Description

Technical Field

[0001] This application belongs to the technical field of robot control, and particularly relates to a driving device for a dexterous hand and a driving control method therefor. Background Art

[0002] Due to various reasons, hands and fingers are components of robots, and very complex and difficult technical challenges are faced when designing and optimizing design parameters. The first challenge is how to achieve adaptive and stable grasping of objects. Adaptability involves the ability of fingers or corresponding joints to adjust their positions and / or movements based on the position and characteristics of contact with another object; stability means that the object is well grasped in the way of the object itself without slipping or falling. The second technical challenge is how to transmit force or torque to different links or components of the fingers, making the force control and output of the dexterous hand flexible, which is a technical problem that needs to be solved. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. To this end, the driving device for a dexterous hand and the driving control method therefor proposed in this application can effectively improve the flexibility of force control and output of the dexterous hand.

[0004] In a first aspect, this application proposes a dexterous driving device, the driving device includes:

[0005] At least two rotating shafts, connected between the finger joints of the dexterous hand, for causing rotation between the two connected finger joints;

[0006] At least one driving device, disposed in the cavity of the middle joint of the dexterous hand and capable of sliding along a first direction, where the first direction is a direction parallel to the cavity wall of the middle joint;

[0007] At least two transmission devices, fixed in the cavities of other joints of the dexterous hand except the middle joint, and connected to the driving device through cables;

[0008] Wherein, the cable passes through the rotating shaft.

[0009] In some embodiments, the dexterous finger has more than three odd-numbered joints, and the cavity lengths of each joint decrease in sequence along the direction from the palm to the fingertip.

[0010] In some embodiments, the driving devices are arranged in pairs in the cavity of the middle joint and can slide along the first direction in a coordinated manner.

[0011] In some embodiments, when the driving devices are arranged in pairs, the transmission devices in the cavity of the dexterous hand are also arranged in pairs.

[0012] In some embodiments, a sensor is disposed in the cavity of the finger joint where the transmission device is located to sense the magnitude of the external torque of the grasped object.

[0013] In some embodiments, a wire winding device is disposed in the cavity of the finger joint where the transmission device is located to wind up the excess length of the cable.

[0014] In some embodiments, when the external torque is greater than the internal torque, the driving device moves towards the fingertip side in the cavity of the middle joint of the dexterous hand; when the external torque is less than the internal torque, the driving device moves towards the palm side in the cavity of the middle joint of the dexterous hand.

[0015] In some embodiments, the rotating shaft can rotate within a range of 0 to 270 degrees.

[0016] In some embodiments, the driving device is a circular movable pulley, a track for the circular movable pulley to slide is provided on the side wall of the cavity of the middle joint, the transmission device is a circular fixed pulley with a fixed center, and the cable is wound around the outer circles of the circular movable pulley and the circular fixed pulley, and the transmission of force is achieved through the sliding of the circular movable pulley on the track and the connection of the cable.

[0017] In a second aspect, the present application proposes a driving control method for a dexterous hand, which is applied to the driving device of the dexterous hand in the first aspect above. The method includes:

[0018] Obtain and analyze a first task to obtain the external torque of the grasped object, where the external torque is obtained from the weight of the grasped object;

[0019] If the external torque is greater than the balance torque, then control the driving device to move towards the fingertip side in the cavity of the middle joint of the dexterous hand;

[0020] If the external torque is less than or equal to the balance torque, then control the driving device to remain stationary in the cavity of the middle joint of the dexterous hand.

[0021] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the driving control method for the dexterous hand as described in the second aspect above is implemented.

[0022] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the driving control method for the dexterous hand as described in the second aspect above is implemented.

[0023] Fifth aspect, the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run programs or instructions to implement the driving control method of the dexterous hand as described in the second aspect.

[0024] Sixth aspect, the present application provides a computer program product, including a computer program, which when executed by a processor, implements the driving control method of the dexterous hand as described in the second aspect above.

[0025] One or more of the above technical solutions in the embodiments of the present application have at least the following technical effects:

[0026] The driving device of the dexterous hand and its control method provided by the embodiments of the present application. The finger joints of the dexterous hand are connected by a rotating shaft, so that the finger joints can rotate through the rotating shaft. Each finger joint is a hollow structure, that is, each finger joint forms a cavity. By arranging at least one driving device that can slide along the first direction in the cavity of the middle joint of the dexterous hand, and arranging at least two transmission devices in the cavities of other joints of the dexterous hand, and connecting the transmission devices and the driving device through cables, the transmission devices are driven by the driving device to drive the corresponding finger joints to move, making the control and output of the force of the dexterous hand flexible and greatly improving the control efficiency of the dexterous hand.

[0027] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0029] Figure 1 is a schematic diagram of a humanoid robot provided by an embodiment of the present application.

[0030] Figure 2 is a schematic structural diagram of the controller of the humanoid robot provided by an embodiment of the present application.

[0031] Figure 3 is a schematic structural diagram of the finger of the dexterous hand provided by an embodiment of the present application.

[0032] Figure 4 is a schematic structural diagram of the driving device corresponding to the state where the finger of the dexterous hand is straightened provided by an embodiment of the present application.

[0033] Figure 5 is a schematic flowchart of the driving control method of the dexterous hand provided by an embodiment of the present application.

[0034] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0036] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0037] The control method, device, storage medium, and electronic device of the drive shaft provided by the embodiments of the present application belong to the field of robots. This device specifically includes: at least one driving device that slides along a first direction in the channel of the dexterous finger; at least two transmission devices that are fixed in the cavity of the dexterous finger; at least two rotating shafts; the rotating shafts are connected to the cavity of the dexterous finger; the transmission device and the driving device are connected by a cable, and the cable passes through the rotating shaft. This device uses the cooperation of the driving device and the transmission device to control the change degree of the force at the end and the tail without expanding the cable topology.

[0038] Next, in conjunction with the accompanying drawings, the control method of the drive shaft, the control device of the drive shaft, the electronic device, and the readable storage medium provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0039] Figure 1 It is an example humanoid robot 100 of the application scenario adapted to the embodiments of the present application. Figure 2FIG. 0 is a schematic structural diagram of a controller 108 of a humanoid robot in an example, which can integrate the devices and methods described in this article. The humanoid robot 100 may include an upper body 102, two arms 104, and two legs 106. The upper body 102 may include a controller 108 for controlling the robot 100. The controller 108 may include a processing unit 110 and a communication interface 112. The processing unit 110 may be communicatively coupled to the communication interface 112. The processing unit 110 may include a processor 114 and a memory 116. The robot 100 may include a plurality of actuators 118 associated with a plurality of joints. Each arm 104 may include a corresponding hand 120. The robot 100 may include one or more sensors for sensing the robot 100 or the surrounding environment of the robot 100. The robot 100 may include one or more cameras.

[0040] The processor 114 may be implemented as a single-chip or multi-chip processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof, and is designed to perform the functions described in this article. The processor 114 may be a microprocessor. The processor 114 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In some embodiments, the controller 108 may include one or more processors 114.

[0041] The memory 116 (e.g., memory unit and / or storage device) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk memory) for storing data and / or computer code to complete or facilitate the various processes described. In the present disclosure, the memory 116 may be communicatively connected to the processor 114 to provide computer code or instructions to the processor 114 for executing at least some of the processes described in this article. In addition, the memory 116 may be or include tangible, non-transitory volatile memory or non-volatile memory. For example, the memory 116 may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in this article.

[0042] The communication interface 112 may include any combination of wired and / or wireless interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wired terminals) for data communication with various systems or devices of the robot 100. The interface 112 may enable communication between the processing unit 110 (or the processor 114) and the actuators 118, sensors, or cameras integrated into the robot 100. In some embodiments, the communication interface 112 may enable communication with a remote system or device.

[0043] The processing unit 110 or the processor 114 may be configured to control the joints of the robot 100. The processing unit 110 or the processor 114 may control the joints or the movements associated with the joints by controlling the corresponding actuators 118. Specifically, each joint may include one or more actuators 118 or may be associated with one or more actuators 118, and the actuators 118 are configured to drive the movement of the robot components or elements connected via the joints. As discussed in further detail below, the processing unit 110 or the processor 114 may send instructions to the actuators 118 to cause or trigger the precise movement of one or more elements or components of the robot 100. The processing unit 110 or the processor 114 may control multiple joints simultaneously to achieve the coordinated movement of the robot 100.

[0044] The processing unit 110 or the processor 114 may receive data from sensors and / or cameras integrated in the robot 100 and make decisions based on the received data, such as which elements of the robot 100 are to be moved and how to move them. For example, the data received from the sensors and / or cameras may indicate obstacles in the path of the robot 100. The processing unit 110 or the processor 114 may decide to modify the path and determine one or more limbs or control the components of the robot 100 based on the modified path. In some embodiments, the processing unit 110 or the processor 114 may receive data indicating the tasks to be performed by the robot 100 from a remote device or system and determine the movement sequence of the limbs or components of the robot 100 to perform the tasks.

[0045] Although Figure 1 it is shown that the controller is integrated in the chest or upper body of the robot 100, generally speaking, the controller 108 may be placed or integrated in other areas or parts of the robot 100. For example, the robot 100 may include a head and the controller 108 may be integrated into or on the head. In some embodiments, the controller 108 may be placed in the back, waist area or on the waist area of the robot 100 and / or placed in or on one of the limbs of the robot 100.

[0046] Embodiment 1

[0047] The embodiment of the present application also provides a driving device for a dexterous hand, as Figure 3 and 4 shown, the driving device includes:

[0048] At least two rotating shafts 121 are connected between the finger joints of the dexterous hand for enabling rotation between the two connected finger joints; at least one driving device 125 is arranged in the cavity of the middle joint of the dexterous hand and can slide along a first direction, where the first direction is a direction parallel to the cavity wall of the middle joint; at least two transmission devices 126 are fixed in the cavities of the other joints of the dexterous hand except the middle joint and are connected to the driving device 125 through cables; wherein, the cables pass through the rotating shafts 121.

[0049] The driving device of the dexterous hand provided by the embodiment of the present application. The finger joints of the dexterous hand are connected through the rotating shafts 121, so that the finger joints can rotate through the rotating shafts 121. Each finger joint is a hollow structure, that is, each finger joint forms a cavity. By arranging at least one driving device 125 that can slide along the first direction in the cavity of the middle joint of the dexterous hand, and arranging at least two transmission devices 126 in the cavities of the other joints of the dexterous hand, the transmission devices 126 and the driving device 125 are connected through cables, so that the transmission devices 126 drive the corresponding finger joints to move under the drive of the driving device 125, making the control and output of the force of the dexterous hand flexible and greatly improving the control efficiency of the dexterous hand.

[0050] It should be noted that the cable can be connected to the actuator in the palm support and is tightened or relaxed under the action of the actuator.

[0051] Generally speaking, the dexterous hand consists of a palm support and fingers. It can be understood that the dexterous fingers should also be composed of other components to achieve specific actions. However, in order to solve the technical problems of the degrees of freedom of the dexterous hand and the dynamic balance of the external and internal forces of the fingers, the present application focuses on the description of the dexterous fingers, especially on the joints, joint cavities, rotating shafts 121, transmission devices 126, rotating devices, driving devices 125, etc. of the dexterous fingers. Other parts such as drive motors, brakes, actuators, etc. should also be understood as part of the dexterous fingers, but since these parts have little relationship with the present application, they are not described in detail.

[0052] The dexterous finger can have five fingers, and some dexterous hands also have three fingers. Each finger has three joints, that is, the dexterous finger has more than three odd-numbered joints, and the cavity lengths of each joint are different. In particular, the cavity lengths of the joints decrease successively along the second direction. Taking three joints as an example, the cavity length of the outermost part of the finger is the smallest, the cavity length of the joint closest to the palm support is the largest, and the cavity length of the middle joint is in the middle. If taking five joints as an example, the cavity length of the outermost part of the finger is also the smallest, the cavity length of the second outermost part of the finger is greater than that of the outermost part, the cavity length of the joint closest to the palm support is the largest, the cavity length of the joint second closest to the palm support is less than that of the joint closest to the palm support, and the cavity length of the middle joint is in the middle. It should be noted that the cavity, channel or cavity channel in the embodiments of the present application refers to the same content.

[0053] Multiple electronic devices can be installed in the cavity inside the dexterous finger, or it can be designed as a container to place various electronic devices and mechanical devices. It can be understood that the dexterous finger is in a shape close to a cylinder, that is, both ends are close to circular, and the middle is also a similar cylindrical cavity, whose size is similar to that of a human finger, and its length is also similar to that of a human finger. Therefore, the cavity volume of the dexterous finger is also limited, and the sizes of the transmission device 126 and the driving device 125 installed in the cavity are relatively small.

[0054] In one embodiment, the transmission device 126 is a circular fixed pulley, and the driving device 125 is a circular movable pulley that can move in the cavity channel. In another embodiment, the transmission device 126 can be a circular wheel with a fixed center, and the driving device 125 is a circular wheel that moves in the cavity channel along the track in the cavity channel, and the front and rear circular wheels are connected by a cable.

[0055] Specifically, a track approximately the same diameter as the circular driving device 125 is provided on the side wall of the cavity of the middle joint, and the circular driving device 125 is embedded in the track and slides freely in a certain direction. It can be understood that the transmission device 126 and the driving device 125 are connected by a cable.

[0056] In some embodiments, the driving device 125 is a circular movable pulley, a track for the circular movable pulley to slide is provided on the side wall 128 of the cavity of the middle joint, the transmission device 126 is a circular fixed pulley with a fixed center, and the cable 127 is wound around the outer circles of the circular movable pulley and the circular fixed pulley, and the transmission of force is realized through the sliding of the circular movable pulley on the track and the connection of the cable 127.

[0057] Generally, when the dexterous finger is not in contact with an external force, the driving device 125 and the transmission device 126 are in a dynamic balance state through the mutual force between the cables. For example, the driving device 125 is at the middle position of the track, and the cables of the transmission device 126 in the cavities of the first joint 122 and the third joint 124 are sequentially connected to the cable of the driving device 125. The transmission device 126 in the cavity of the first joint 122, the driving device 125 in the cavity of the second joint 123, and the transmission device 126 in the cavity of the third joint 124 are in a dynamic balance. Preferably, the energy consumed by the driving device 125 and the transmission device 126 in the dynamic balance is the smallest, that is, the most energy-efficient or in an energy-saving state.

[0058] Each joint of the finger is connected by a rotating shaft 121. The rotating shaft 121 connects the front and rear joints. When there are three joints in the finger, there are two rotating shafts 121. When there are five joints in the finger, there are four rotating shafts 121. The rotating shaft 121 can keep the front and rear joints parallel or maintain a certain degree of curvature. For example, when there are only two front and rear joints, the rotating shaft 121 can drive the outer joint and the inner joint in the two front and rear joints to be at any angle between 0 and 360 degrees. Preferably, when the rear joint is horizontal, the front joint can rotate between 45 degrees and 315 degrees relative to the rear joint, and the rotation ensures the flexibility of the finger, that is, the degree of freedom of the finger.

[0059] In one embodiment, the driving devices 125 are arranged in pairs along the horizontal direction in the cavity channel in the middle of the dexterous finger. That is, on the two side walls 128 of the cavity of the middle joint where the circular driving device 125 is arranged, tracks are arranged facing each other. On each side wall 128, a track approximately the same diameter as the circular driving device 125 is arranged, and the circular driving device 125 is embedded in the track and slides freely in a certain direction. It can be understood that the middle joint here is also the middle part joint.

[0060] In one embodiment, the circular driving devices 125 slide in the cavity channel in the middle of the dexterous finger in pairs in a first direction, and the driving devices 125 slide uniformly in one direction. Specifically, an even number of circular driving devices 125 will slide in one direction under the drive of force. It can be understood that the magnitude of the force driven by an even number of driving devices 125 is larger than the magnitude of the force driven by a single driving device 125. Further, the larger the force driven by an even number of driving devices 125, the larger the mass of the object lifted by the dexterous finger.

[0061] In one embodiment, when the number of the circular driving devices 125 is an even number, the number of the transmission devices 126 in the cavity of the dexterous finger also becomes an even number. Specifically, an example is given with the number of the circular driving devices 125 being two. Opposite tracks are provided on two side walls 128 of the cavity of the middle joint where the circular driving device 125 is arranged, and tracks approximately the same diameter as the circular driving device 125 are provided on each side wall 128. Since the relatively arranged dynamic circular driving devices 125 are arranged in the middle joint cavity, the number of the transmission devices 126 in the cavity of the first joint 122 and the cavity of the third joint 124 also becomes two. When the number of the transmission devices 126 in the cavity of the first joint 122 and the cavity of the third joint 124 becomes two, since the transmission device 126 is fixed in the cavity of the first joint 122 or the cavity of the third joint 124, the two transmission devices 126 can be fixed side by side in the cavity of the first joint 122 or the cavity of the third joint 124.

[0062] In one embodiment, various sensors are arranged in the cavity of the joint where the transmission device 126 or the driving device 125 is arranged, such as a power sensor, a gravity sensor, an acceleration sensor, an angle sensor, etc. These sensors are used to sense the magnitude of the torque or the weight of an external object, and are also used to sense the current state of the transmission device 126 or the driving device 125 and other electronic devices and mechanical devices. There will also be a small controller or processor for processing data and controlling the input or output of the cable 127. There will also be various small memories for storing various steady-state or transient-state data.

[0063] In one embodiment, a cable winding device is arranged in the cavity of the joint where the transmission device 126 or the driving device 125 is arranged. The cable winding device is used to wind up the redundant length of the cable. The cable winding device can be a rotating arm, and the redundant length of the cable is wound around the rotating arm for cable winding. It can be understood that there can be multiple cable winding devices, for example, there are multiple in one joint cavity.

[0064] In one embodiment, a part of the cable can be wound around the palm rest of the dexterous finger or around the corresponding transmission device 126 or driving device 125. The cable can be pulled along the transmission device 126 or the driving device 125 in the cavity of the first joint 122, the cavity of the second joint 123, and the cavity of the third joint 124. When the cable is actuated by an actuator in the palm rest or by an actuator outside the finger (for example, pulled), another part of the cable can be pulled along the transmission device 126 or the driving device 125 in the cavity of the first joint 122, the cavity of the second joint 123, and the cavity of the third joint 124. In some embodiments, the first part or the second part of the cable may not be fixed to facilitate the free pulling of the cable. The cable can include a metal cable and the metal cable has a fixed bending radius. Preferably, the cable is a steel wire.

[0065] In one embodiment, the grasping system of the dexterous hand includes multiple fingers and an object to be grasped by the grasping system (or an object grasped by the multiple fingers). Each finger may have a corresponding proximal link and a corresponding distal link. Each finger may be driven by a corresponding cable. Each finger applies a corresponding force to the object.

[0066] In one embodiment, when the multiple fingers of the grasping system of the dexterous finger grasp an external object, the transmission 126, the sliding device, the actuation of the cable, and the movement process will change. More specifically, when no object is grasped, the cable causes the transmission 126 and the sliding device to be in a relatively balanced state, and the moment in the dynamic balance state is the internal moment. When the grasping system of the dexterous finger grasps an external object, the transmission 126 of the first joint 122 senses the action of force, and the sensed force is the external moment. A simple representation of the external moment is the mass of the external object. After sensing the force, the sensors and the controller inside the joint will obtain and calculate the magnitude of the external moment. When the external moment is greater than the internal moment, the cable of the transmission 126 will be appropriately tightened and send a signal to the driving device 125. The driving device 125 moves toward the external object side in the cavity of the dexterous finger. As the action of the force of the external object increases, the driving device 125 moves to the end toward the external object side in the channel of the dexterous finger. At this time, the palm support will receive the locking electrical signal of the transmission 126, and the actuator inside the palm support will work and pull the cable connecting the transmission 126 in the third joint cavity inside the palm support. The cable of the transmission 126 in the third joint cavity is connected to the cable of the driving device 125 in the second joint cavity, and pulls the driving device 125 in the second joint cavity. The driving device 125 moves toward the palm support side in the channel of the dexterous finger. When the driving device 125 moves toward the palm support side in the channel of the dexterous finger, the force applied to the cable by the palm support is equivalent to the magnitude of the external moment, and can make the external object, the cable, the transmission 126, and the sliding device in a relatively balanced state.

[0067] Embodiment 2

[0068] The driving control method of the dexterous hand provided by the embodiment of the present application, the execution subject may be the driving device of the dexterous hand. In the embodiment of the present application, the driving device of the dexterous hand is taken as an example to illustrate the driving control method of the dexterous hand provided by the embodiment of the present application.

[0069] The driving control of the dexterous hand provided by the embodiment of the present application is applied to the driving device of the dexterous hand described above. The method includes:

[0070] Obtain and analyze the first task to obtain the external torque of the grasped object, where the external torque is obtained from the weight of the grasped object. When the external torque is greater than the balance torque, control the driving device 125 to move toward the fingertip side in the cavity of the middle joint of the dexterous hand. When the external torque is less than or equal to the balance torque, control the driving device 125 to remain stationary in the cavity of the middle joint of the dexterous hand.

[0071] It should be noted that the first task in this embodiment can be obtained by the control unit, or directly obtained by the server first and then transmitted to the control unit. Specifically, the control unit receives the first task input by the operator, that is, the first task can be input through the receiving interface of the hardware device; it can also be a preset input task, and the control unit selects the first task from the preset input tasks; it can also be to pre-set the task generation rule, so that the control unit can generate the first task according to the generation rule by itself. In some embodiments, the transmission wire is a steel wire.

[0072] In one embodiment, when multiple fingers of the grasping system of the dexterous finger grasp an external object, the actuation and movement processes of the transmission device 126, the sliding device, and the cable will change. More specifically, when no object is grasped, the cable will make the transmission device 126 and the sliding device in a relatively balanced state, and the torque in the dynamic balance state is the internal torque. When the grasping system of the dexterous finger grasps an external object, the transmission device 126 of the first joint 122 senses the action of force, and the sensed force is the external torque. The simple representation of the external torque is the mass of the external object.

[0073] After sensing the force, the sensors and controllers inside the joint will obtain and compare the magnitudes of the external torques. When the external torque is greater than the internal torque, the cable of the transmission device 126 will be appropriately tightened and send a signal to the driving device, and the driving device will move toward the external object side in the channel of the dexterous finger. As the action of the force of the external object increases, the driving device will move to the end toward the external object side in the channel of the dexterous finger; at this time, the palm support will receive the stop electrical signal of the transmission device 126, and the actuator inside the palm support will work and pull the cable of the transmission device 126 connected to the third joint cavity inside the palm support. The cable of the transmission device 126 in the third joint cavity is connected to the cable of the driving device in the second joint cavity, and the driving device in the second joint cavity is pulled, and the driving device will move toward the palm support side in the channel of the dexterous finger. When the driving device moves toward the palm support side in the channel of the dexterous finger, the force applied to the cable by the palm support is equivalent to the magnitude of the external torque, which can make the external object, the cable, the transmission device 126, and the sliding device in a relatively balanced state.

[0074] The control device of the retractable pulley in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0075] The control device of the drive shaft in the embodiments of the present application can be a device with an operating system. The operating system can be the Microsoft (Windows) operating system, the Android operating system, the IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0076] The control device of the drive shaft provided by the embodiments of the present application can implement Figure 1 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0077] In some embodiments, as Figure 5 shown, the embodiments of the present application further provide an electronic device 300, including a processor 301, a memory 302, and a computer program stored on the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements each process of the above-mentioned method embodiments of the control of the drive shaft and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0078] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0079] The embodiments of the present application also provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-mentioned embodiment of the control method of the drive shaft and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0080] Among them, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0081] The embodiments of the present application also provide a computer program product, including a computer program, which implements the above-mentioned control method of the drive shaft when executed by a processor.

[0082] Among them, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0083] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-mentioned embodiment of the control method of the drive shaft and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0084] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-a-chip, etc.

[0085] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the element. In addition, it should be pointed out that the methods and devices in the embodiments of the present application are not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0086] Through the description of the above embodiments, those skilled in the art can clearly understand that the above method of the embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the related technology, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0087] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0089] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A driving device for a dexterous hand, characterized in that: The driving device comprises: At least two rotation axes, connected between the finger joints of the dexterous hand, for causing rotation between the two connected finger joints; At least one driving device is disposed in the cavity of the middle joint of the dexterous hand and is capable of sliding along a first direction, wherein the first direction is a direction parallel to the cavity wall of the middle joint; At least two transmission devices are fixed in the cavities of the joints of the dexterous hand except the middle joint and connected to the driving device through cables; Wherein, the cable passes through the rotating shaft.

2. The device according to claim 1, characterized in that The dexterous finger has an odd number of joints of more than three, and the length of the cavity of each joint decreases in sequence along the direction from the palm rest to the fingertip.

3. The device according to claim 1, characterized in that The driving devices are arranged in pairs in the cavity of the middle joint and can slide in a first direction in unison.

4. The device according to claim 3, characterized in that When the driving devices are arranged in pairs, the transmission devices in the cavity of the dexterous hand are also arranged in pairs.

5. The device according to claim 1, characterized in that A sensor is arranged in the cavity of the finger joint where the transmission device is located, so as to sense the magnitude of the external torque of the grasped object.

6. The device according to claim 5, characterized in that A wire collection device is provided in the cavity of the finger joint where the transmission device is located, for collecting the excess length of the cable.

7. The device according to claim 5, characterized in that When the external torque is greater than the internal torque, the driving device moves toward the fingertip side in the cavity of the middle joint of the dexterous hand; when the external torque is less than the internal torque, the driving device moves toward the palm rest side in the cavity of the middle joint of the dexterous hand.

8. The device according to claim 1, characterized in that The rotating shaft can rotate within a range of 0 to 270 degrees.

9. The device according to claim 1, characterized in that The driving device is a circular movable pulley, and a track for the circular movable pulley to slide is provided on the side wall of the cavity of the middle joint. The transmission device is a circular fixed pulley with a fixed center. The cable is wound around the outer rings of the circular movable pulley and the circular fixed pulley. The transmission of force is achieved by the sliding of the circular movable pulley on the track and the connection of the cable.

10. A driving control method for a dexterous hand, characterized in that: The driving device for the dexterous hand according to any one of claims 1 to 9, the method comprising: Acquire and analyze the first task to obtain an external torque of the grasped object, wherein the external torque is obtained by the weight of the grasped object; If the external torque is greater than the balancing torque, the driving device is controlled to move toward the fingertip side in the cavity of the middle joint of the dexterous hand; If the external torque is less than or equal to the balancing torque, the driving device is controlled to remain stationary in the cavity of the middle joint of the dexterous hand.

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