Driving device of dexterous hand and driving control method thereof

Abstract

The application discloses a driving device of a dexterous hand and a driving control method thereof, and belongs to the field of robots. The driving device comprises: at least two rotating shafts which are coupled between finger joints of the dexterous hand and are used for rotating the coupled two finger joints; at least one driving device which is arranged in a cavity of a middle joint of the dexterous hand and can slide in a first direction, wherein the first direction is parallel to a cavity wall of the middle joint; and at least two transmission devices which are fixed in cavities of joints of the dexterous hand except the middle joint and are connected with the driving device through cables; wherein the cables pass through the rotating shafts. The device controls the change degree of end force and tail force by cooperation of the driving device and the transmission device without expanding the cable topology.

Description

Technical Field

[0001] This application belongs to the field of robot control technology, and in particular relates to a drive device for a dexterous hand and its drive control method. Background Technology

[0002] For various reasons, hands and fingers are integral parts of robots, presenting highly complex and challenging technical challenges in designing and optimizing their parameters. The first challenge is achieving adaptive and stable grasping of objects. Adaptability refers to the ability of a finger or corresponding joint to adjust its position and / or movement based on its contact with another object; stability refers to the ability to grasp an object well without slipping or falling. The second technical challenge is how force or torque is transmitted to the different links or components of the fingers, enabling flexible control and output of dexterous hand forces—a problem that needs to be solved. Summary of the Invention

[0003] This application aims to at least solve one of the technical problems existing in the related art. To this end, the dexterous hand driving device and its driving control method 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 clever driving device, the driving device comprising:

[0005] At least two rotation axes are connected between the finger joints of the dexterous hand for causing rotation between the two connected finger joints;

[0006] At least one actuating 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 parallel to the cavity wall of the middle joint;

[0007] At least two transmission devices are fixed in the cavities of the joints of the dexterous hand other than the middle joint, and are connected to the drive device via cables;

[0008] The cable passes through the rotating shaft.

[0009] In some embodiments, the dexterous finger has three or more odd-numbered joints, and the cavity length of each joint decreases sequentially from the palm rest to the fingertip.

[0010] In some embodiments, the driving devices are arranged in pairs within the cavity of the central joint and are capable of sliding in a first direction in a coordinated manner.

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

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

[0013] In some embodiments, a take-up device is provided inside the cavity of the finger joint where the transmission device is located to hold the excess length of the cable.

[0014] In some embodiments, when the external torque is greater than the internal torque, the driving device moves toward the fingertip side within 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 support side within 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, and the cavity sidewall of the central joint is provided with a track for the circular movable pulley to slide on. The transmission device is a circular fixed pulley with a fixed center. The cable is wound around the outer ring of the circular movable pulley and the circular fixed pulley. Force is transmitted through the sliding of the circular movable pulley on the track and the connection of the cable.

[0017] Secondly, this application proposes a drive control method for a dexterous hand, applied to the drive device of the dexterous hand described in the first aspect, the method comprising:

[0018] The first task is acquired and parsed to obtain the external torque of the grasped object, wherein the external torque is obtained from the weight of the grasped object;

[0019] If the external torque is greater than the equilibrium torque, the drive device is controlled to move towards the fingertip side within the cavity of the middle joint of the dexterous hand.

[0020] 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.

[0021] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the dexterous hand drive control method as described in the second aspect above.

[0022] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dexterous hand drive control method as described in the second aspect above.

[0023] Fifthly, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the dexterous hand drive control method as described in the second aspect.

[0024] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the dexterous hand drive control method as described in the second aspect above.

[0025] The above-described one or more technical solutions in the embodiments of this application have at least the following technical effects:

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

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0029] Figure 1 This is a schematic diagram of a humanoid robot provided in an embodiment of this application.

[0030] Figure 2 This is a schematic diagram of the controller of the humanoid robot provided in the embodiments of this application.

[0031] Figure 3 This is a schematic diagram of the structure of the fingers of a dexterous hand provided in an embodiment of this application.

[0032] Figure 4 This is a schematic diagram of the drive device corresponding to the extended finger state of the dexterous hand provided in the embodiments of this application.

[0033] Figure 5 This is a flowchart illustrating the dexterous hand drive control method provided in the embodiments of this application.

[0034] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0036] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0037] The control method, apparatus, storage medium, and electronic device for the drive shaft provided in this application belong to the field of robotics. Specifically, the apparatus includes: at least one driving device that slides along a first direction within the channel of the dexterous finger; at least two transmission devices fixed within the cavity of the dexterous finger; at least two rotating shafts connected to the cavity of the dexterous finger; and a cable connecting the transmission devices and the driving devices, with the cable passing through the rotating shafts. This apparatus utilizes the cooperation of the driving and transmission devices to control the degree of force variation at the end and tail without expanding the cable topology.

[0038] The following description, in conjunction with the accompanying drawings, details the drive shaft control method, drive shaft control device, electronic device, and readable storage medium provided in this application through specific embodiments and application scenarios.

[0039] Figure 1 This is an example humanoid robot 100 applicable to the scenario described in this application embodiment. Figure 2This is a schematic diagram of the controller 108 of the humanoid robot in the example, which can integrate the devices and methods described herein. 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 its surrounding environment. The robot 100 may include one or more cameras.

[0040] Processor 114 may be implemented as a single-chip or multi-chip processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware component, or any combination thereof, designed to perform the functions described herein. Processor 114 may be a microprocessor. 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, controller 108 may include one or more processors 114.

[0041] Memory 116 (e.g., memory cells and / or storage devices) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and / or computer code to perform or facilitate the various processes described herein. In this disclosure, memory 116 may be communicatively connected to processor 114 to provide processor 114 with computer code or instructions for performing at least some of the processes described herein. Furthermore, memory 116 may be or include tangible, non-transient volatile memory or non-volatile memory. For example, memory 116 may include database components, object code components, scripting components, or any other type of information structure for supporting the various activities and information structures described herein.

[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. Interface 112 can enable communication between the processing unit 110 (or processor 114) and actuators 118, sensors, or cameras integrated into the robot 100. In some embodiments, the communication interface 112 can enable communication with remote systems or devices.

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

[0044] Processing unit 110 or processor 114 may receive data from sensors and / or cameras integrated in robot 100 and make decisions based on the received data, such as which components of robot 100 should move and how they should move. For example, data received from sensors and / or cameras may indicate obstacles in the path of robot 100. Processing unit 110 or processor 114 may decide to modify the path and determine one or more limbs or control components of robot 100 based on the modified path. In some embodiments, processing unit 110 or processor 114 may receive data from remote devices or systems instructing robot 100 to perform a task and determine a sequence of motion for the limbs or components of robot 100 to perform the task.

[0045] Although Figure 1 The diagram shows the controller integrated in the chest or upper body of robot 100; however, in general, the controller 108 can be placed or integrated in other areas or parts of robot 100. For example, 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 or on the back, waist region, or waist region of robot 100 and / or placed in or on one of the limbs of robot 100.

[0046] Example 1

[0047] This application also provides a driving device for a dexterous hand, such as... Figure 3 and 4 As shown, the drive device includes:

[0048] At least two rotating shafts 121 are connected between the finger joints of the dexterous hand for rotating between the connected finger joints; at least one driving device 125 is disposed in the cavity of the middle joint of the dexterous hand and is capable of sliding in a first direction, wherein the first direction is 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 besides the middle joint and are connected to the driving device 125 by cables; wherein the cables pass through the rotating shafts 121.

[0049] The dexterous hand driving device provided in this application embodiment connects the finger joints of the dexterous hand through a rotating shaft 121, allowing the finger joints to rotate through the rotating shaft 121. Each finger joint has a hollow structure, that is, each finger joint forms a cavity. At least one driving device 125 that can slide along a first direction is provided in the cavity of the middle joint of the dexterous hand, and at least two transmission devices 126 are provided in the cavities of the other joints of the dexterous hand. The transmission devices 126 and the driving devices 125 are connected by cables, so that the transmission devices 126 drive the corresponding finger joints to move under the drive of the driving devices 125, making the control and output of the dexterous hand force more 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 rest, and can be tightened or loosened by the action of the actuator.

[0051] Generally, a dexterous hand consists of a palm rest and fingers. It is understandable that dexterous fingers should also have other components to achieve specific movements. However, this application focuses on the dexterous finger to address the technical issues of the degree of freedom of the dexterous hand and the dynamic balance between external and internal forces in the fingers. Specifically, it describes only the joints, joint cavities, rotating shaft 121, transmission device 126, rotating device, and driving device 125 of the dexterous finger. Other parts such as drive motors, brakes, and actuators should also be understood as part of the dexterous finger, but since these parts are not directly related to this application, they will not be described in detail.

[0052] A dexterous hand can have five fingers, and some dexterous hands may have three. Each finger has three joints, meaning a dexterous hand has an odd number of joints (three or more). The length of the cavity in each joint varies, particularly decreasing along the second direction. For example, with three joints, the outermost cavity is the shortest, the cavity closest to the palm rest is the longest, and the middle cavity is of medium length. Similarly, with five joints, the outermost cavity is the shortest, the next outermost cavity is longer than the outermost, the cavity closest to the palm rest is the longest, the next closest cavity is shorter than the closest cavity, and the middle cavity is of medium length. It should be noted that in this application's embodiments, "cavity," "channel," or "cavity channel" refers to the same thing.

[0053] The cavity within the dexterous finger can house multiple electronic devices, or be designed as a container to hold various electronic and mechanical components. Understandably, the dexterous finger is nearly cylindrical, with nearly circular ends and a similar cylindrical cavity in the middle, its size and length similar to a human finger. Therefore, the cavity volume of the dexterous finger is limited, and the size of the transmission device 126 and the drive device 125 installed within the cavity are also 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 within the cavity channel. In another embodiment, the transmission device 126 can be a circular wheel fixed in the center, and the driving device 125 is a circular wheel that moves along a track within the cavity channel, with the front and rear circular wheels connected by a cable.

[0055] Specifically, a track with a diameter approximately similar to that of the circular drive device 125 is provided on the cavity sidewall of the intermediate joint, and the circular drive device 125 slides freely in a certain direction on the track. It can be understood that the transmission device 126 and the drive device 125 are connected by a cable.

[0056] In some embodiments, the driving device 125 is a circular movable pulley, and the cavity sidewall 128 of the central joint is provided with a track for the circular movable pulley to slide on. The transmission device 126 is a circular fixed pulley with a fixed center. The cable 127 is wound around the outer ring of the circular movable pulley and the circular fixed pulley. Force is transmitted through the sliding of the circular movable pulley on the track and the connection of the cable 127.

[0057] Typically, when there is no external force contact from the dexterous finger, the mutual forces between the drive device 125 and the transmission device 126 via cables are in a state of dynamic equilibrium. For example, when the drive device 125 is in the middle position of the track, the cables of the transmission devices 126 in the first joint 122 cavity and the third joint 124 cavity are sequentially connected to the cables of the drive device 125. The three devices—the transmission device 126 in the first joint 122 cavity, the drive device 125 in the second joint 123 cavity, and the transmission device 126 in the third joint 124 cavity—are in a state of dynamic equilibrium. Preferably, the drive device 125 and the transmission device 126 in dynamic equilibrium consume the least amount of energy, that is, they are most energy-efficient or in an energy-saving state.

[0058] Each joint of the finger is connected by a rotating shaft 121, which connects the front and rear joints. When the finger has three joints, there are two rotating shafts 121; when the finger has five joints, there are four. The rotating shafts 121 allow the front and rear joints to remain parallel or maintain a certain degree of curvature. If there are only two joints (front and rear), the rotating shafts 121 can drive the outer and inner joints of the two joints to any angle between 0 and 360 degrees. Preferably, when the rear joint is horizontal, the front joint can rotate between 45 and 315 degrees relative to the rear joint. This rotation ensures the flexibility, or freedom, of the finger.

[0059] In one embodiment, the actuating devices 125 are arranged in pairs horizontally within the cavity channel in the middle of the dexterous finger. Specifically, tracks are provided on the two sidewalls 128 of the cavity where the intermediate joint of the circular actuating device 125 is located, each sidewall 128 having a track approximately the same diameter as the circular actuating device 125. The circular actuating device 125 slides freely in a certain direction along these tracks. It is understood that the intermediate joint here is also known as the middle joint.

[0060] In one embodiment, the circular actuating devices 125 slide in pairs within the cavity channel in the middle of the dexterous finger along a first direction, and the actuating devices 125 slide uniformly in one direction. Specifically, an even number of circular actuating devices 125 will slide in one direction under the influence of force. It can be understood that the force exerted by an even number of actuating devices 125 is greater than the force exerted by a single actuating device 125. Furthermore, the greater the force exerted by an even number of actuating devices 125, the greater the mass of the object lifted by the dexterous finger.

[0061] In one embodiment, when the number of the circular drive devices 125 is even, the number of transmission devices 126 within the cavity of the dexterous finger also becomes even. Specifically, the number of the circular drive devices 125 is described as two. Tracks are provided facing each other on the two sidewalls 128 of the cavity of the intermediate joint where the circular drive devices 125 are located. Each sidewall 128 has a track with a diameter approximately the same as that of the circular drive device 125. Since the intermediate joint cavity contains the opposing dynamic circular drive devices 125, the number of transmission devices 126 in the first joint 122 cavity and the third joint 124 cavity also becomes two. When the number of transmission devices 126 in the first joint 122 cavity and the third joint 124 cavity becomes two, since the transmission devices 126 are fixed in the first joint 122 cavity or the third joint 124 cavity, the two transmission devices 126 can be fixed side-by-side in the first joint 122 cavity or the third joint 124 cavity.

[0062] In one embodiment, various sensors, such as power sensors, gravity sensors, acceleration sensors, and angle sensors, are installed within the cavity of the joint housing the transmission device 126 or the drive device 125. These sensors are used to sense the magnitude of torque or the weight of external objects, and also to sense the current state of the transmission device 126 or the drive device 125 and other electronic and mechanical devices. A small controller or processor is also included to process data and control the input or output of the cable 127. Small memory units are also provided to store various steady-state or metastable-state data.

[0063] In one embodiment, a take-up device is provided within the cavity of the joint where the transmission device 126 or the driving device 125 is located. The take-up device is used to collect excess cable length. The take-up device can be a rotating arm, around which excess cable length is wound for take-up. It is understood that there can be multiple take-up devices, for example, multiple devices within a single joint cavity.

[0064] In one embodiment, a portion of the cable may be wound around the palm rest of the dexterous finger or the corresponding transmission device 126 or actuation device 125. The cable may be pulled along the transmission device 126 or actuation device 125 within the cavities of the first joint 122, the second joint 123, and the third joint 124. When the cable is actuated by an actuator within the palm rest or by an actuator outside the finger (e.g., pulled), another portion of the cable may be pulled along the transmission device 126 or actuation device 125 within the cavities of the first joint 122, the second joint 123, and the third joint 124. In some embodiments, the first or second portion of the cable may not be fixed to allow for free pulling of the cable. The cable may include a metal cable with a fixed bending radius, preferably a steel wire.

[0065] In one embodiment, the dexterous hand's grasping system includes multiple fingers and a grasped 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 multiple fingers of the dexterous finger grasping system grasp an external object, the actuation and movement processes of the transmission device 126, the sliding device, and the cable change. More specifically, when no object is grasped, the cable keeps the transmission device 126 and the sliding device in a relatively balanced state; the torque in this dynamic equilibrium state is the internal torque. When the dexterous finger grasping system grasps an external object, the transmission device 126 at the first joint 122 senses a force; this sensed force is the external torque, which can be simply represented by the mass of the external object. Upon sensing force, the sensors and controllers within the joint obtain a value greater than the calculated external torque. When the external torque exceeds the internal torque, the cable of the transmission device 126 will tighten appropriately and send a signal to the driving device 125. The driving device 125 moves towards the external object within the cavity of the dexterous finger. As the force from the external object increases, the driving device 125 moves to its limit within the channel of the dexterous finger. At this point, the palm rest receives a stop signal from the transmission device 126, the actuator inside the palm rest operates, and pulls the cable connecting the transmission device 126 inside the palm rest to the third joint cavity. The cable of the transmission device 126 inside the third joint cavity connects to the cable of the driving device 125 inside the second joint cavity, pulling the driving device 125 inside the second joint cavity. The driving device 125 then moves towards the palm rest within the channel of the dexterous finger. When the driving device 125 moves toward the palm support side within 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 keep the external object, the cable, the transmission device 126, and the sliding device in a relatively balanced state.

[0067] Example 2

[0068] The dexterity hand drive control method provided in this application can be executed by a dexterity hand drive device. This application uses a dexterity hand drive device as an example to illustrate the dexterity hand drive control method provided in this application.

[0069] The dexterity hand drive control provided in this application is applied to the aforementioned dexterity hand drive device, and the method includes:

[0070] The first task is acquired and analyzed to obtain the external torque of the grasped object, wherein the external torque is derived from the weight of the grasped object. If the external torque is greater than the equilibrium torque, the driving device 125 is controlled to move towards the fingertips within the cavity of the middle joint of the dexterous hand. If the external torque is less than or equal to the equilibrium torque, the driving device 125 is controlled to remain stationary within 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 it can be obtained directly 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, from which the control unit selects the first task; or it can be a pre-set task generation rule, so that the control unit can generate the first task according to the generation rule. In some embodiments, the transmission wire is a steel wire.

[0072] In one embodiment, when multiple fingers of the dexterous finger grasping system grasp an external object, the actuation and movement processes of the transmission device 126, the sliding device, and the cable change. More specifically, when no object is grasped, the cable keeps the transmission device 126 and the sliding device in a relatively balanced state; the torque in this dynamic equilibrium state is the internal torque. When the dexterous finger grasping system grasps an external object, the transmission device 126 of the first joint 122 senses a force; this sensed force is the external torque, which can be simply represented by the mass of the external object.

[0073] Upon sensing force, the sensors and controllers within the joint obtain a value greater than the calculated external torque. When the external torque exceeds the internal torque, the cable of the transmission device 126 becomes appropriately taut and sends a signal to the driving device. The driving device then moves towards the external object within the channel of the dexterous finger. As the force from the external object increases, the driving device moves to its limit within the channel of the dexterous finger. At this point, the palm rest receives a locking signal from the transmission device 126, activating the actuator inside the palm rest and pulling the cable connecting the transmission device 126 within the third joint cavity. The cable of the transmission device 126 within the third joint cavity connects to the cable of the driving device within the second joint cavity, pulling the driving device within the second joint cavity. The driving device then moves towards the palm rest within the channel of the dexterous finger. As the driving device moves towards the palm rest within the channel of the dexterous finger, the force exerted on the cable by the palm rest is equivalent to the magnitude of the external torque, ensuring that the external object, cable, transmission device 126, and sliding device are in a relatively balanced state.

[0074] The control device for retracting and extending the pulley in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television set (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the device.

[0075] The control device for the drive shaft in this embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this embodiment does not specifically limit the specific operating system.

[0076] The drive shaft control device provided in this application embodiment can achieve... Figure 1 To avoid repetition, the various processes implemented in the method implementation examples will not be described again here.

[0077] In some embodiments, such as Figure 5 As shown, this application embodiment also provides an electronic device 300, including a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements the various processes of the above-described drive shaft control method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

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

[0079] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described drive shaft control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0080] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0081] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described drive shaft control method.

[0082] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0083] This application embodiment also provides 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 the various processes of the above-described drive shaft control method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

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

[0085] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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

[0087] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A driving device for a dexterous hand, characterized in that, The driving device includes: At least two rotation axes are connected between the finger joints of the dexterous hand for causing rotation between the two connected finger joints; At least one actuating 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 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 other than the middle joint, and are connected to the drive device via cables; The cable passes through the rotating shaft; A sensor is installed inside the cavity of the finger joint where the transmission device is located to sense the magnitude of the external torque on the object being grasped. When the external torque is greater than the internal torque, the driving device moves towards the fingertip side within the cavity of the middle joint of the dexterous hand; when the external torque is equal to the internal torque, the driving device is kept stationary within the cavity of the middle joint of the dexterous hand. The driving device is a circular movable pulley, and the cavity sidewall of the central joint is provided with a track for the circular movable pulley to slide on. The transmission device is a circular fixed pulley with a fixed center. The cable is wound around the outer ring of the circular movable pulley and the circular fixed pulley. Force is transmitted through the sliding of the circular movable pulley on the track and the connection of the cable. The rotating shaft can rotate within a range of 0 to 270 degrees.

2. The apparatus according to claim 1, characterized in that, Dexterous fingers have an odd number of joints, with the cavity length of each joint decreasing sequentially from the palm to the fingertip.

3. The apparatus according to claim 1, characterized in that, The driving devices are arranged in pairs within the cavity of the middle joint and can slide in a coordinated manner along the first direction.

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

5. The apparatus according to claim 1, characterized in that, A cable retractor is installed inside the cavity of the finger joint where the transmission device is located to store excess cable length.

6. A method for driving and controlling a dexterous hand, characterized in that, The method, using the actuation device for a dexterous hand according to any one of claims 1-5, comprises: The first task is acquired and parsed to obtain the external torque of the grasped object, wherein the external torque is obtained from the weight of the grasped object; If the external torque is greater than the equilibrium torque, the drive device is controlled to move towards the fingertip side within the cavity of the middle joint of the dexterous hand. If the external torque is equal to the balancing torque, then the driving device is controlled to remain stationary in the cavity of the middle joint of the dexterous hand.

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