Dexterous hand finger control method, dexterous hand finger and dexterous hand

Abstract

The invention relates to the technical field of robots, in particular to a control method for fingers of a dexterous hand, the fingers of the dexterous hand and the dexterous hand, and solves the problem that the structure of the dexterous hand is complex. The dexterous hand finger control method comprises the following steps: firstly, determining a target length of a tendon rope based on a first preset function relationship and a target angle of a joint, determining a current length of the tendon rope based on the first preset function relationship and a current angle of the joint, and then determining a length variation of the tendon rope based on the target length of the tendon rope and the current length of the tendon rope, then based on the second preset function relation and the length variation of the tendon rope, the motion amplitude of the driving source is determined, so that the driving source drives the rotating part to move to the target angle of the joint through the tendon rope, namely, the motion amplitude of the driving source is determined according to the current length and the target length of the tendon rope and is not prone to being affected by creep deformation of the tendon rope; the creep deformation of the tendon rope can be eliminated without adding an additional calibration device, and the structure of the fingers of the dexterous hand is simplified, so that the structure of the dexterous hand is simplified.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a control method for fingers of a dexterous hand, fingers of a dexterous hand, and a dexterous hand. Background Art

[0002] The dexterous hand's fingers can be driven by various methods, including connecting rod drive, direct motor drive, and tendon drive. Connecting rod drive makes the palm portion of the dexterous hand too large. Direct motor drive requires the motor to be installed in the dexterous hand's fingers, resulting in excessive size and poor anthropomorphism. Tendon drive reduces the overall size of the dexterous hand, bringing its dimensions closer to those of a human hand and enhancing its anthropomorphism. However, tendon drives can creep over time, often requiring additional tensioning and calibration devices to eliminate these deformations, further complicating the dexterous hand's structure. Summary of the Invention

[0003] In view of this, the embodiments of the present disclosure provide a control method for dexterous hand fingers, dexterous hand fingers, and a dexterous hand, which solve the problem of complex structure of the dexterous hand.

[0004] In a first aspect, an embodiment of the present disclosure provides a control method for dexterous hand fingers, which is applied to dexterous hand fingers, wherein the dexterous hand fingers include at least one joint, at least one driving source and at least one tendon rope, wherein the joint includes a fixed part and a rotating part rotatably connected to the fixed part, the first end of the tendon rope is connected to the rotating part, and the second end of the tendon rope is connected to the driving source through the fixed part, and the driving source drives the rotating part to rotate through the tendon rope; wherein the control method for the dexterous hand fingers includes: a target length determination step: determining the target length of the tendon rope based on a first preset functional relationship and the target angle of the joint, wherein the first preset functional relationship is determined based on the structure of the dexterous hand fingers and is used to characterize the joint. The functional relationship between the angle and the length of the tendon rope, the length of the tendon rope is the rope length from the first end of the tendon rope to the position of the tendon rope corresponding to the preset position of the fixed part; the current length determination step: based on the first preset functional relationship and the current angle of the joint, the current length of the tendon rope is determined; the length change determination step: based on the target length of the tendon rope and the current length of the tendon rope, the length change of the tendon rope is determined; the motion amplitude determination step: based on the second preset functional relationship and the length change of the tendon rope, the motion amplitude of the driving source is determined, so as to utilize the driving source to drive the rotating part to move to the target angle of the joint through the tendon rope, and the second preset functional relationship is determined based on the structure of the driving source.

[0005] In some embodiments, the target length determination step, the current length determination step, the length change determination step and the motion amplitude determination step are executed in a loop n times; wherein, after the driving source is used to drive the rotating part to move to the target angle of the joint through the tendon in this loop, the target angle of the joint in this loop is used as the current angle of the joint in the next loop.

[0006] In some embodiments, before the current length determination step is performed for the first time after the dexterous hand finger is powered on, the method further includes: receiving the current angle of the joint sent by the sensor of the joint.

[0007] In some embodiments, the method for determining the first preset functional relationship includes: determining multiple angles of the joint; recording multiple lengths of the tendon rope when the rotating part of the joint moves to the multiple angles respectively; performing a fitting calculation based on the fitting function, the multiple angles and the multiple lengths to determine the first preset functional relationship.

[0008] In some embodiments, the fitting function comprises a polynomial fitting function.

[0009] In some embodiments, the joint includes a side-swing joint and a bending joint, the side-swing joint includes a first fixed part and a first rotating part, the bending joint includes a second fixed part and a second rotating part, the tendon rope includes a first tendon rope and a second tendon rope, the driving source includes a first driving source and a second driving source, the first preset functional relationship includes a first tendon rope length functional relationship and a second tendon rope length functional relationship, and the second preset functional relationship includes a first motion amplitude functional relationship and a second motion amplitude functional relationship; wherein, the dexterous hand finger also includes: a support member, forming the first fixed part; a side-swing base, forming the first rotating part and the second fixed part, and the support member Rotatably connected around a first axis; a finger joint assembly forms the second rotating part, which is rotatably connected to the side swing base around a second axis, and the second axis is perpendicular to the first axis; wherein, the first end of the first tendon rope is connected to the finger joint assembly, the second end of the first tendon rope is connected to the first drive source, the first end of the second tendon rope is connected to the finger joint assembly, and the second end of the second tendon rope is connected to the second drive source; wherein, the target length determination step includes: determining the target length of the first tendon rope based on the functional relationship of the first tendon rope length, the target angle of the side swing joint and the target angle of the bending joint; determining the target length of the first tendon rope based on the functional relationship of the second tendon rope length The target length of the second ligament is determined based on a functional relationship between the first ligament length, the target angle of the side swing joint, and the target angle of the flexion joint; wherein the current length determining step includes: determining the current length of the first ligament based on the first ligament length functional relationship, the current angle of the side swing joint, and the current angle of the flexion joint; and determining the current length of the second ligament based on the second ligament length functional relationship, the current angle of the side swing joint, and the current angle of the flexion joint; wherein the length change determining step includes: determining the length change of the first ligament based on the target length of the first ligament and the current length of the first ligament; and determining the length change of the second ligament based on the target length of the second ligament and the current length of the second ligament; wherein the motion amplitude determining step includes: determining the motion amplitude of the first driving source based on the first motion amplitude functional relationship and the length change of the first ligament; and determining the motion amplitude of the second driving source based on the second motion amplitude functional relationship and the length change of the second ligament, so as to use the first driving source and the second driving source to drive the first rotating part and / or the second rotating part to move to the target angle of the side swing joint and / or the target angle of the flexion joint through the first ligament and the second ligament respectively.

[0010] In some embodiments, when the driving source includes a push rod motor, the second preset functional relationship includes: the movement amplitude of the driving source = the change in length of the tendon rope / the push rod pitch of the push rod motor; when the driving source includes a rotary motor, the second preset functional relationship includes: the movement amplitude of the driving source = the change in length of the tendon rope / the radius of the output shaft of the rotary motor; when the driving source includes a linear drive, the second preset functional relationship includes: the movement amplitude of the driving source = the change in length of the tendon rope.

[0011] In some embodiments, before determining the target length of the tendon rope based on the first preset functional relationship and the target angle of the joint, it includes: receiving an operation instruction sent by an operating device, the operating device including a remote control, a radio device and a remote sensing device; and determining the target angle of the joint based on the operation instruction.

[0012] In a second aspect, an embodiment of the present disclosure provides a dexterous hand finger, comprising: at least one joint, the joint comprising a fixed part and a rotating part rotatably connected to the fixed part; at least one tendon rope, the first end of the tendon rope being connected to the rotating part; at least one driving source, the second end of the tendon rope being connected to the driving source via the fixed part, the driving source being configured to drive the rotating part of at least one joint to rotate through at least one tendon rope; a controller, being communicatively connected to at least one driving source, and being configured to control the operation of the driving source using the control method of the dexterous hand finger described in the first aspect.

[0013] In a third aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: at least one dexterous hand finger as described in the second aspect.

[0014] The disclosed embodiment provides a method for controlling the fingers of a dexterous hand. The method first determines the target length of the tendon rope based on a first preset functional relationship and the target angle of the joint, determines the current length of the tendon rope based on the first preset functional relationship and the current angle of the joint, then determines the length change of the tendon rope based on the target length of the tendon rope and the current length of the tendon rope, and then determines the motion amplitude of the driving source based on the second preset functional relationship and the length change of the tendon rope, so as to utilize the driving source to drive the rotating part to move to the target angle of the joint through the tendon rope, that is, the motion amplitude of the driving source is determined according to the current length and target length of the tendon rope, is not easily affected by the creep deformation of the tendon rope, and does not need to add additional calibration devices to eliminate the creep deformation of the tendon rope, thereby simplifying the structure of the fingers of the dexterous hand and thus simplifying the structure of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0016] Figure 1 Shown is a structural schematic diagram of the dexterous hand provided by an embodiment of the present disclosure, in which the fingers are in a bent state.

[0017] Figure 2 Shown Figure 1 The structural diagram of the dexterous hand shown is in the extended state.

[0018] Figure 3 The figure is a flow chart of a method for controlling fingers of a dexterous hand provided by an embodiment of the present disclosure.

[0019] Figure 4 Shown is a flow chart of a method for controlling fingers of a dexterous hand provided by another embodiment of the present disclosure.

[0020] Figure 5 The figure is a flow chart of a method for determining a first preset functional relationship provided by an embodiment of the present disclosure.

[0021] Figure 6 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure.

[0022] Figure 7 Shown is a front view of a dexterous hand provided by another embodiment of the present disclosure, in which the fingers are in an extended state.

[0023] Figure 8 Shown Figure 7 A front view of the dexterous hand is shown with the fingers in a bent position.

[0024] Figure 9 Shown Figure 7 A side view of the dexterous hand is shown with the fingers extended.

[0025] Figure 10 Shown Figure 7 A side view of the dexterous hand is shown with the fingers in a flexed position.

[0026] Figure 11 Shown is a flow chart of a method for controlling fingers of a dexterous hand provided by another embodiment of the present disclosure.

[0027] Figure 12 The diagram shows the relationship between the angles of multiple side swing joints, the angles of multiple bending joints and the multiple lengths of the first tendon provided by the embodiment of the present disclosure.

[0028] Figure 13 The diagram shows the relationship between the angles of multiple side swing joints, the angles of multiple bending joints and the multiple lengths of the second tendon provided by the embodiment of the present disclosure.

[0029] Figure 14 Shown is a flow chart of a method for controlling fingers of a dexterous hand provided by another embodiment of the present disclosure.

[0030] Figure 15 Shown is a schematic structural diagram of a dexterous hand finger control device provided in one embodiment of the present disclosure.

[0031] Figure 16 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0032] Figure 17 Shown is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure.

[0033] Reference numerals:

[0034] 1. Dexterous hand; 10. Dexterous hand fingers; 11. Joints; 111. Fixed part; 112. Rotating part; 12. Driving source; 121. First driving source; 122. Second driving source; 13. Tendon; 131. First tendon; 132. Second tendon; 14. Controller; 15. Support member; 16. Side swing base; 17. Knuckle assembly; A1. First axis; A2. Second axis; 20. Palm. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0036] Figure 1 Shown is a structural schematic diagram of the dexterous hand provided by an embodiment of the present disclosure, in which the fingers are in a bent state. Figure 2 Shown Figure 1 The structure diagram of the dexterous hand with fingers in straight state is shown in FIG. Figure 1 and Figure 2As shown, the dexterous finger 10 includes at least one joint 11, at least one drive source 12, and at least one tendon 13. The joint 11 includes a fixed portion 111 and a rotating portion 112 rotatably connected to the fixed portion 111. The first end of the tendon 13 is connected to the rotating portion 112, and the second end of the tendon 13 is connected to the drive source 12 through the fixed portion 111. The drive source 12 drives the rotating portion 112 to rotate via the tendon 13.

[0037] Figure 3 FIG. 1 is a flow chart of a method for controlling fingers of a dexterous hand provided by an embodiment of the present disclosure. Figure 3 As shown, the control method of the dexterous hand fingers includes the following steps.

[0038] Step 100, target length determination step: determining the target length of the tendon cord based on a first preset functional relationship and a target angle of the joint.

[0039] Exemplarily, the controller 14 is the main body for executing the control method of the dexterous hand fingers. The controller 14 is capable of receiving data, processing data, and sending data. The controller 14 can be a logic controller, a microcontroller, a computer, a tablet, a mobile phone, a server, etc.

[0040] For example, the target angle of a joint is the angle that the joint needs to move to. For example, if the controller receives an instruction to rotate the joint to 30 degrees, then 30 degrees is the target angle of the joint.

[0041] Specifically, the first preset functional relationship is determined based on the structure of the dexterous hand's fingers. Different dexterous hand finger structures correspond to different and unique first preset functional relationships. The first preset functional relationship is used to represent the functional relationship between the joint angle and the tendon length. The tendon length is the length from the first end of the tendon to the position of the tendon corresponding to the preset position of the fixing portion.

[0042] Exemplarily, the first preset functional relationship is as follows: Formula (1).

[0043] L=f(θ) (1)

[0044] Where L is the length of the tendon and θ is the angle of the joint.

[0045] Figure 1 The target angle θ1 of joint 11 and the target length L1 of tendon 13 are shown. The target angle θ1 and the target length L1 satisfy a first predetermined functional relationship. Substituting the target angle θ1 into the first predetermined functional relationship yields the target length L1. In other words, when θ = θ1, L = L1.

[0046] Step 200, current length determination step: determining the current length of the tendon based on the first preset functional relationship and the current angle of the joint.

[0047] Exemplarily, the current angle of the joint is the angle of the joint at the current moment. For example, if the angle of the joint at the current moment is 60 degrees, then 60 degrees is the current angle of the joint.

[0048] Figure 2 The current angle θ2 of joint 11 and the current length L2 of tendon 13 are shown. The current angle θ2 and the current length L2 satisfy a first predetermined functional relationship. Substituting the current angle θ2 into the first predetermined functional relationship yields the current length L2. In other words, when θ = θ2, L = L2.

[0049] Step 300, length change determination step: determining the length change of the tendon based on the target length of the tendon and the current length of the tendon.

[0050] For example, the length change of the tendon may be the absolute value of the difference between the target length of the tendon and the current length of the tendon, for example, the length change of the tendon ΔL=|L1-L2|.

[0051] Step 400, a motion amplitude determination step: based on a second preset functional relationship and a length change of the tendon rope, determining the motion amplitude of the driving source, so as to utilize the driving source to drive the rotating part to move to a target angle of the joint through the tendon rope.

[0052] Exemplarily, the second preset functional relationship is determined based on the structure of the driving source, and different driving sources correspond to different and unique second preset functional relationships.

[0053] Exemplarily, the second preset functional relationship is as follows: Formula (2).

[0054] R=f(ΔL) (2)

[0055] Where R represents the motion amplitude of the driving source, and ΔL represents the length change of the tendon.

[0056] The control method for the fingers of the dexterous hand disclosed in the present invention first determines the target length of the tendon rope based on a first preset functional relationship and the target angle of the joint, determines the current length of the tendon rope based on the first preset functional relationship and the current angle of the joint, then determines the length change of the tendon rope based on the target length of the tendon rope and the current length of the tendon rope, and then determines the movement amplitude of the driving source based on the second preset functional relationship and the length change of the tendon rope, so as to utilize the driving source to drive the rotating part to move to the target angle of the joint through the tendon rope, that is, the movement amplitude of the driving source is determined according to the current length and target length of the tendon rope, is not easily affected by the creep deformation of the tendon rope, and does not need to add additional calibration devices to eliminate the creep deformation of the tendon rope, thereby simplifying the structure of the fingers of the dexterous hand and thus simplifying the structure of the dexterous hand.

[0057] In some embodiments, step 100, the target length determination step, step 200, the current length determination step, step 300, the length change determination step and step 400, the motion amplitude determination step are executed in a loop n times so as to determine the motion amplitude of the driving source at any time to ensure continuous control of the fingers of the dexterous hand.

[0058] In this case, after the driving source drives the rotating part to move to the target angle of the joint through the tendon in this cycle, the target angle of the joint in this cycle is used as the current angle of the joint in the next cycle.

[0059] Exemplarily, after executing steps 100, 200, 300, and 400 for the first time, the target angle of the joint is θ1, and when executing step 200 for the second time, the current angle θ2 of the joint is equal to θ1.

[0060] For example, when step 200 is executed for the first time after the dexterous hand fingers are powered on, the current angle of the joint may be the angle of the joint recorded by the controller before the dexterous hand fingers are powered off.

[0061] For example, after executing steps 100, 200, 300, and 400 for the n-1th time, the target angle of the joint is θ n-1 , when step 200 is executed for the nth time, the current angle θ of the joint n Equal to θ n-1 .

[0062] Figure 4 FIG. 1 is a flow chart of a method for controlling fingers of a dexterous hand according to another embodiment of the present disclosure. Figure 4 As shown, before the first execution of step 200 after the dexterous hand fingers are powered on, the following steps are also included.

[0063] Step 150: Receive the current angle of the joint sent by the joint sensor.

[0064] Specifically, after the fingers of the dexterous hand are powered on, the controller receives the current angle of the joint sent by the joint sensor and can calibrate the current angle of the joint (also known as power-on calibration) to further eliminate the errors caused by creep deformation of the tendon rope after long-term use.

[0065] In actual applications, when step 200 is executed for the first time after the dexterous hand fingers are powered on, the current angle of the joint may be the angle of the joint recorded by the controller before the dexterous hand fingers are powered off. However, since the tendon rope will produce creep deformation after long-term use, the angle of the joint recorded by the controller before the dexterous hand fingers are powered off may be inaccurate. Therefore, the current angle of the joint detected by the joint sensor is the actual current angle of the joint, which is not affected by the creep deformation of the tendon rope, thereby improving the accuracy of the current angle of the joint and providing a more accurate data basis for subsequent calculations, thereby improving the accuracy of the control method of the dexterous hand fingers disclosed in the present invention.

[0066] Figure 5 FIG. 1 is a flow chart of a method for determining a first preset functional relationship according to an embodiment of the present disclosure. Figure 5 As shown, the method for determining the first preset functional relationship includes the following steps.

[0067] Step 510 , determining multiple angles of the joint.

[0068] For example, the first preset functional relationship can be determined by experiment. Figure 1 and Figure 2 As shown, the fingers of the dexterous hand can be bent and extended, and the bent state has multiple bending angles. Therefore, multiple angles can be pre-set, such as 10 degrees, 20 degrees, 30 degrees, etc. The number of angles can be determined based on actual needs, for example, 1000 angles, 2000 angles, etc. For example, the rotation angle of the joint is 0 degrees to 90 degrees. If 1000 angles are set, 0 degrees to 90 degrees can be evenly divided, and an angle can be set every 0.09 degrees.

[0069] In step 520 , when the rotating part of the joint moves to multiple angles, multiple lengths of the tendon cord are recorded.

[0070] For example, the pre-set angles are 10 degrees, 20 degrees, and 30 degrees. When the rotating part of the joint rotates to 10 degrees, the length of the tendon is measured once; when the rotating part of the joint rotates to 20 degrees, the length of the tendon is measured once; when the rotating part of the joint rotates to 30 degrees, the length of the tendon is measured once, that is, each joint angle corresponds to the length of a tendon.

[0071] Step 530: Perform a fitting calculation based on the fitting function, multiple angles, and multiple lengths to determine a first preset functional relationship.

[0072] Exemplarily, the fitting function may be a fitting function determined by methods such as local interpolation, kernel method, parameterized spline, iterative geometric method, and modern machine learning technology.

[0073] Although the first preset functional relationship differs for different structures of dexterous hand fingers, the method for calculating the first preset functional relationship can be the same. Using a fitting function to determine the first preset functional relationship simplifies calculations, and the calculated first preset functional relationship consumes fewer computing resources during the subsequent execution of the dexterous hand finger control method.

[0074] In some embodiments, the fitting function is a polynomial fitting function. The calculation of the polynomial fitting function is simpler, and the first preset functional relationship obtained by fitting occupies less computing resources in the subsequent execution of the dexterous hand finger control method.

[0075] Figure 6 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure. Figure 7 Shown is a front view of a dexterous hand provided by another embodiment of the present disclosure, in which the fingers are in an extended state. Figure 8 Shown Figure 7 A front view of the dexterous hand is shown with the fingers in a bent position. Figure 9 Shown Figure 7 A side view of the dexterous hand is shown with the fingers extended. Figure 10 Shown Figure 7 The side view of the dexterous hand with fingers in a bent state is shown. Figures 6 to 10 As shown, joint 11 includes a side swing joint and a flexion joint. The side swing joint includes a first fixed portion and a first rotating portion, and the flexion joint includes a second fixed portion and a second rotating portion. The tendons 13 include a first tendon 131 and a second tendon 132, and the drive source 12 includes a first drive source 121 and a second drive source 122. The first preset functional relationship includes a first tendon length functional relationship and a second tendon length functional relationship. The second preset functional relationship includes a first motion amplitude functional relationship and a second motion amplitude functional relationship.

[0076] like Figures 6 to 10 As shown, the dexterous finger 10 also includes a support member 15, a side-swing base 16, and a finger joint assembly 17. The support member 15 forms a first fixed portion. The side-swing base 16 forms a first rotating portion and a second fixed portion, which is rotatably connected to the support member 15 around a first axis A1. The finger joint assembly 17 forms a second rotating portion, which is rotatably connected to the side-swing base 16 around a second axis A2. The second axis A2 is perpendicular to the first axis A1. The first end of the first tendon 131 is connected to the finger joint assembly 17, the second end of the first tendon 131 is connected to the first driving source 121, the first end of the second tendon 132 is connected to the finger joint assembly 17, and the second end of the second tendon 132 is connected to the second driving source 122.

[0077] In practical applications, the first driving source 121 is used to pull the first tendon 131, and the second driving source 122 is used to pull the second tendon 132, so as to achieve the swing of the side swing joint and the bending of the bending joint. Figures 6 to 10 The fingers of the dexterous hand shown are driven differentially. Figure 7 and Figure 8 As shown, if the second driving source 122 pulls the second tendon 132, the finger 10 of the dexterous hand will swing to the right, and if the first driving source 121 pulls the first tendon 131, the finger 10 of the dexterous hand will swing to the left. Figure 9 and Figure 10 As shown, if the second driving source 122 pulls the second tendon 132 while the first driving source 121 pulls the first tendon 131, and the driving forces of the first and second driving sources 121, 122 are the same, the dexterous hand finger 10 bends. If the second driving source 122 pulls the second tendon 132 while the first driving source 121 pulls the first tendon 131, and the driving forces of the first and second driving sources 121, 122 are different, the dexterous hand finger 10 will both swing sideways and bend.

[0078] Figure 11 FIG. 1 is a flow chart of a method for controlling fingers of a dexterous hand provided by another embodiment of the present disclosure. Figure 11 As shown, the target length determination step includes the following steps.

[0079] Step 110: Determine a target length of the first chord based on the functional relationship of the first chord length, the target angle of the lateral swing joint, and the target angle of the flexion joint.

[0080] Exemplarily, the first tendon length function relationship is as follows formula (3).

[0081] L a =f(θ a ,θ b ) (3)

[0082] Among them, L a represents the length of the first tendon, θ a represents the angle of the side swing joint, θ b Indicates the angle of the bent joint.

[0083] Figure 7 shows the target angle θ of the side-swing joint a1 and the target length L of the first tendon 131 a1 . Figure 9 shows the target angle θ of the flexed joint b1 The target angle θ of the sideways joint a1 , target angle θ of the bending joint b1 and the target length L of the first tendon 131a1 The first tendon length function relationship is satisfied, that is, the target angle θ of the lateral swing joint a1 and the target angle θ of the bending joint b1 Substituting the first tendon length function relationship, the target length L of the first tendon 131 can be obtained. a1 In other words, when θ a =θ a1 ,θ b =θ b1 When L a =L a1 .

[0084] Step 120: Determine the target length of the second chord based on the functional relationship of the second chord length, the target angle of the lateral swing joint, and the target angle of the flexion joint.

[0085] Exemplarily, the second tendon length function relationship is as follows formula (4).

[0086] L b =f(θ a ,θ b ) (4)

[0087] Among them, L b represents the length of the second tendon, θ a represents the angle of the side swing joint, θ b Indicates the angle of the bent joint.

[0088] Figure 7 shows the target angle θ of the side-swing joint a1 and the target length L of the second tendon 132 b1 . Figure 9 shows the target angle θ of the flexed joint b1 The target angle θ of the sideways joint a1 , target angle θ of the bending joint b1 and the target length L of the second tendon 132 b1 The second tendon length function relationship is satisfied, that is, the target angle θ of the lateral swing joint a1 and the target angle θ of the bending joint b1 Substituting the second tendon length function relationship, the target length L of the second tendon 132 can be obtained. b1 In other words, when θ a =θ a1 ,θ b =θ b1 When L b =L b1 .

[0089] like Figure 11 As shown, the current length determination step includes the following steps.

[0090] Step 210: Determine the current length of the first chord based on the functional relationship of the first chord length, the current angle of the lateral swing joint, and the current angle of the flexion joint.

[0091] Figure 8 shows the current angle θ of the side swing joint a2 . Figure 10 shows the current angle θ of the bending joint b2 The current angle θ of the sideways joint a2 , the current angle θ of the bending joint b2 The current length L of the first tendon 131 a2 The first tendon length function relationship is satisfied, that is, the current angle θ of the lateral swing joint a2 and the current angle θ of the bending joint b2 Substituting the first tendon length function relationship, the current length L of the first tendon 131 can be obtained. a2 In other words, when θ a =θ a2 ,θ b =θ b2 When L a =L a2 .

[0092] Step 220: Determine the current length of the second chord based on the functional relationship of the second chord length, the current angle of the lateral swing joint, and the current angle of the flexion joint.

[0093] Figure 8 shows the current angle θ of the side swing joint a2 . Figure 10 shows the current angle θ of the bending joint b2 The current angle θ of the sideways joint a2 , the current angle θ of the bending joint b2 The current length L of the second tendon 132 b2 The second tendon length function relationship is satisfied, that is, the current angle θ of the lateral swing joint a2 and the current angle θ of the bending joint b2 Substituting the second tendon length function relationship, the current length L of the second tendon 132 can be obtained. b2 In other words, when θ a =θ a2 ,θ b =θ b2 When L b =L b2 .

[0094] like Figure 11 As shown, the length change determination step includes the following steps.

[0095] Step 310: Determine a length change of the first tendon based on the target length of the first tendon and the current length of the first tendon.

[0096] For example, the length change of the first tendon cord may be the absolute value of the difference between the target length of the first tendon cord and the current length of the first tendon cord. a =|L a1 -L a2 |.

[0097] Step 320: Determine the length change of the second tendon based on the target length of the second tendon and the current length of the second tendon.

[0098] For example, the length change of the second tendon cord may be the absolute value of the difference between the target length of the second tendon cord and the current length of the second tendon cord. b =|L b1 -L b2 |.

[0099] like Figure 11 As shown, the motion amplitude determination step includes the following steps.

[0100] Step 410: Determine the motion amplitude of the first driving source based on the first motion amplitude functional relationship and the length change of the first tendon cord.

[0101] Exemplarily, the first motion amplitude function relationship is as follows: Formula (5).

[0102] R a =f(ΔL a ) (5)

[0103] Among them, R a represents the movement amplitude of the first driving source, ΔL a Indicates the change in length of the first tendon.

[0104] Step 420, based on the second motion amplitude function relationship and the length change of the second tendon, determine the motion amplitude of the second driving source, so as to use the first driving source and the second driving source to drive the first rotating part and / or the second rotating part to move to the target angle of the side swing joint and / or the target angle of the bending joint through the first tendon and the second tendon respectively.

[0105] Exemplarily, the second motion amplitude function relationship is as follows: Formula (6).

[0106] R b =f(ΔL b ) (6)

[0107] Among them, R brepresents the movement amplitude of the second driving source, ΔL b Indicates the change in length of the second tendon.

[0108] By driving the lateral swing and bending of the dexterous hand fingers 10 in a differential manner, the structure of the dexterous hand fingers 10 is simplified, and the dexterous hand fingers 10 are controlled by the dexterous hand finger control method disclosed in the present invention. There is no need to add additional calibration devices to eliminate the creep deformation of the tendon rope, which simplifies the structure of the dexterous hand fingers 10 and thus simplifies the structure of the dexterous hand.

[0109] In some embodiments, the driving source includes a push rod motor, and the second preset functional relationship is as follows: Formula (7).

[0110] R=ΔL / P (7)

[0111] Where R represents the motion amplitude of the driving source, ΔL represents the length change of the tendon rope, and P represents the push rod pitch of the push rod motor.

[0112] Correspondingly, the first motion amplitude function relationship is as follows: Formula (8).

[0113] R a =ΔL a / P (8)

[0114] Among them, R a represents the movement amplitude of the first driving source, ΔL a represents the length change of the first tendon rope, and P represents the push rod pitch of the push rod motor.

[0115] Correspondingly, the second motion amplitude function relationship is as follows: Formula (9).

[0116] R b =ΔL b / P (9)

[0117] Among them, R b represents the movement amplitude of the second driving source, ΔL b represents the length change of the second tendon rope, and P represents the push rod pitch of the push rod motor.

[0118] In some embodiments, the driving source includes a rotating motor, and the second preset functional relationship is as follows: Formula (10).

[0119] R=ΔL / r (10)

[0120] Here, R represents the motion amplitude of the driving source, ΔL represents the change in the length of the tendon cord, and r represents the radius of the output shaft of the rotating motor.

[0121] Correspondingly, the first motion amplitude function relationship is as follows: Formula (11).

[0122] R a =ΔL a / r (11)

[0123] Among them, R a represents the movement amplitude of the first driving source, ΔL a represents the length change of the first tendon cord, and r represents the radius of the output shaft of the rotating electrical machine.

[0124] Correspondingly, the second motion amplitude function relationship is as follows formula (12).

[0125] R b =ΔL b / r (12)

[0126] Among them, R b represents the movement amplitude of the second driving source, ΔL b represents the length change of the second tendon, and r represents the radius of the output shaft of the rotating electrical machine.

[0127] In some embodiments, the driving source includes a linear drive, and the second preset functional relationship is as follows: Formula (13).

[0128] R=ΔL (13)

[0129] Where R represents the motion amplitude of the driving source, and ΔL represents the length change of the tendon.

[0130] Correspondingly, the first motion amplitude function relationship is as follows formula (14).

[0131] R a =ΔL a (14)

[0132] Among them, R a represents the movement amplitude of the first driving source, ΔL a Indicates the change in length of the first tendon.

[0133] Correspondingly, the second motion amplitude function relationship is as follows formula (15).

[0134] R b =ΔL b (15)

[0135] Among them, R b represents the movement amplitude of the second driving source, ΔL b Indicates the change in length of the second tendon.

[0136] The above lists specific implementation methods of the second preset functional relationship for different driving sources. The above calculation method of the second preset functional relationship is simple, consumes less computing resources, and can improve the execution efficiency of the control method of the dexterous hand fingers.

[0137] The following example illustrates a specific method for determining the first tendon cord length function relationship and the second tendon cord length function relationship.

[0138] First, determine the angles θ of multiple side swing joints a and the angles θ of multiple bending joints b , the rotation part of the side swing joint and the rotation part of the bending joint move to multiple side swing joint angles θ a and the angles θ of multiple bending joints b In the case of a and multiple lengths L of the second tendon b According to the angles θ of multiple side swing joints a , angles θ of multiple bending joints b and multiple lengths L of the first tendon a Can be drawn Figure 12 The relationship diagram shown. According to the angles θ of multiple side swing joints a , angles θ of multiple bending joints b and multiple lengths L of the second tendon b Can be drawn Figure 13 The relationship diagram is shown. Then, based on the polynomial fitting function, the angles θ of multiple side swing joints are obtained. a , angles θ of multiple bending joints b , multiple lengths L of the first tendon a and multiple lengths L of the second tendon b , and perform polynomial fitting to determine the functional relationship of the first tendon cord length and the functional relationship of the second tendon cord length.

[0139] Based on the above data, the first tendon length function relationship is obtained as follows (16).

[0140] L a (θ a ,θ b )=

[0141] 0.02804-0.006803θ a -0.006712θ b -0.002136θ a 2 +6.486e -06 θ a θ b -0.002937θ b 2 +

[0142] 0.0006206θ a 3 +0.0002017θa 2 i b +0.0008335θ a i b 2 -9.377e -05 i b 3 +0.0001579θ a 4 -

[0143] 0.0001083θ a 3 i b +0.0003029θ a 2 i b 2 -0.0003563θ a i b 3 +0.0003045θ b 4 (16)

[0145] According to the above data, the first tendon length function relationship obtained is as follows (17).

[0146] L b (i a ,the b )=

[0147] 0.02804+0.006803θ a -0.006712θ b -0.002136θ a 2 -6.486e -06 i a i b -0.002937θ b 2 -

[0148] 0.0006206θ a 3 +0.0002017θ a 2 i b -0.0008335θ a i b 2 -9.377e -05 i b 3 +0.0001579θ a 4 +

[0149] 0.0001083θ a 3 θ b +0.0003029θ a 2 θ b 2 +0.0003563θ a θ b 3 +0.0003045 b 4 (17)

[0150] Figure 14 FIG. 1 is a flow chart of a method for controlling fingers of a dexterous hand according to another embodiment of the present disclosure. Figure 14 As shown, before determining the target length of the tendon rope based on the first preset functional relationship and the target angle of the joint, the following steps are also included.

[0151] Step 30: Receive an operation instruction sent by the operation device.

[0152] Specifically, the operating device includes a remote controller, a radio device, and a remote sensing device. Exemplarily, the remote sensing device includes operating gloves, operating finger sleeves, etc. The controller 14 can also be connected to the operating device for communication.

[0153] For example, the operating device can be a device operated by a user. For example, the user can send an operating instruction to the controller 14 by operating a key on a remote control or a touch screen button. For another example, the user can speak to a sound receiving device, causing the sound receiving device to send the received speech to the controller 14.

[0154] Step 50: Determine the target angle of the joint based on the operation instruction.

[0155] In actual applications, after receiving the operation instruction sent by the operation device, the controller 14 determines the target angle of the joint based on the operation instruction, thereby realizing human-computer interaction.

[0156] Figure 15 The figure shows a schematic diagram of the structure of the dexterous hand finger control device provided by an embodiment of the present disclosure. Figure 15 As shown, the dexterous hand finger control device 800 includes a target length determination module 810 , a current length determination module 820 , a length change determination module 830 and a motion amplitude determination module 840 .

[0157] The dexterous hand finger control device is applied to a dexterous hand finger 10, which includes at least one joint 11, at least one drive source 12, and at least one tendon 13. Joint 11 includes a fixed portion 111 and a rotating portion 112 rotatably connected to the fixed portion 111. The first end of tendon 13 is connected to rotating portion 112, and the second end of tendon 13 is connected to drive source 12 through fixed portion 111. Drive source 12 drives rotating portion 112 through tendon 13.

[0158] The target length determination module 810 is configured to determine a target length based on a first preset functional relationship and a target joint angle. The first preset functional relationship is determined based on the structure of the fingers of the dexterous hand and represents the functional relationship between the joint angle and the length of the tendon. The tendon length is the length from the first end of the tendon to the position of the tendon corresponding to the preset position of the fixed portion. The current length determination module 820 is configured to determine a current length based on the first preset functional relationship and the current joint angle. The length change determination module 830 is configured to determine a length change based on the target length and the current length of the tendon. The motion amplitude determination module 840 is configured to determine a motion amplitude of the driving source based on a second preset functional relationship and the length change of the tendon, so as to drive the rotating portion to the target joint angle via the tendon using the driving source. The second preset functional relationship is determined based on the structure of the driving source.

[0159] In some embodiments, the dexterous hand finger control device 800 cyclically executes the target length determination step, the current length determination step, the length change determination step and the motion amplitude determination step n times; wherein, in this cycle, after the driving source is used to drive the rotating part to move to the target angle of the joint through the tendon rope, the target angle of the joint in this cycle is used as the current angle of the joint in the next cycle.

[0160] In some embodiments, as Figure 15 As shown, the dexterous hand finger control device 800 further includes a first receiving module 850, which is configured to receive the current angle of the joint sent by the joint sensor before the dexterous hand finger is powered on and the current length determination step is performed for the first time.

[0161] In some embodiments, the dexterous hand finger control device 800 further includes a functional relationship determination module 860. The functional relationship determination module 860 is configured to determine multiple angles of the joint; record multiple lengths of the tendon when the rotational portion of the joint moves to the multiple angles; and perform a fitting calculation based on the fitting function, the multiple angles, and the multiple lengths to determine a first preset functional relationship.

[0162] In some embodiments, as Figures 6 to 10 As shown, the joint 11 includes a side swing joint and a bending joint. The side swing joint includes a first fixed portion and a first rotating portion, and the bending joint includes a second fixed portion and a second rotating portion. The tendon 13 includes a first tendon 131 and a second tendon 132, and the drive source 12 includes a first drive source 121 and a second drive source 122. The first preset functional relationship includes a first tendon length functional relationship and a second tendon length functional relationship. The second preset functional relationship includes a first motion amplitude functional relationship and a second motion amplitude functional relationship. As shown Figures 6 to 10 As shown, the dexterous finger 10 also includes a support member 15, a side-swing base 16, and a finger joint assembly 17. The support member 15 forms a first fixed portion. The side-swing base 16 forms a first rotating portion and a second fixed portion, which is rotatably connected to the support member 15 around a first axis A1. The finger joint assembly 17 forms a second rotating portion, which is rotatably connected to the side-swing base 16 around a second axis A2. The second axis A2 is perpendicular to the first axis A1. The first end of the first tendon 131 is connected to the finger joint assembly 17, the second end of the first tendon 131 is connected to the first driving source 121, the first end of the second tendon 132 is connected to the finger joint assembly 17, and the second end of the second tendon 132 is connected to the second driving source 122.

[0163] like Figure 15 As shown, the target length determination module 810 includes a first target length determination module 811 and a second target length determination module 812. The current length determination module 820 includes a first current length determination module 821 and a second current length determination module 822. The length change determination module 830 includes a first length change determination module 831 and a second length change determination module 832. The motion amplitude determination module 840 includes a first motion amplitude determination module 841 and a second motion amplitude determination module 842.

[0164] The first target length determination module 811 is configured to determine the target length of the first ligament based on the first ligament length function, the target angle of the roll joint, and the target angle of the flexion joint. The second target length determination module 812 is configured to determine the target length of the second ligament based on the second ligament length function, the target angle of the roll joint, and the target angle of the flexion joint. The first current length determination module 821 is configured to determine the current length of the first ligament based on the first ligament length function, the current angle of the roll joint, and the current angle of the flexion joint. The second current length determination module 822 is configured to determine the current length of the second ligament based on the second ligament length function, the current angle of the roll joint, and the current angle of the flexion joint. The first length change determination module 831 is configured to determine the length change of the first ligament based on the target length of the first ligament and the current length of the first ligament. The second length change determination module 832 is configured to determine the length change of the second ligament based on the target length of the second ligament and the current length of the second ligament. The first motion amplitude determination module 841 is configured to determine the motion amplitude of the first driving source based on the first motion amplitude functional relationship and the change in length of the first tendon. The second motion amplitude determination module 842 is configured to determine the motion amplitude of the second driving source based on the second motion amplitude functional relationship and the change in length of the second tendon, so as to use the first driving source and the second driving source to drive the first rotating portion and / or the second rotating portion to a target angle of the lateral swing joint and / or a target angle of the flexion joint via the first tendon and the second tendon, respectively.

[0165] In some embodiments, the dexterous hand finger control device 800 further includes a second receiving module 870 and a target angle determination module 880. The second receiving module 870 is configured to receive operation instructions sent by an operating device, which may include a remote control, a radio device, and a remote sensing device. The target angle determination module 880 is configured to determine a target angle of the joint based on the operation instructions.

[0166] An embodiment of the present disclosure also provides a dexterous hand finger. Figure 1 and Figure 2 As shown, the dexterous finger 10 includes at least one joint 11, at least one drive source 12, at least one tendon 13, and a controller 14. The joint 11 includes a fixed portion 111 and a rotating portion 112 rotatably connected to the fixed portion 111. The first end of the tendon 13 is connected to the rotating portion 112, and the second end of the tendon 13 is connected to the drive source 12 through the fixed portion 111. The drive source 12 drives the rotating portion 112 to rotate via the tendon 13.

[0167] In some embodiments, as Figures 6 to 10As shown, the joint 11 includes a side swing joint and a bending joint. The side swing joint includes a first fixed portion and a first rotating portion, and the bending joint includes a second fixed portion and a second rotating portion. The tendon 13 includes a first tendon 131 and a second tendon 132, and the drive source 12 includes a first drive source 121 and a second drive source 122. The first preset functional relationship includes a first tendon length functional relationship and a second tendon length functional relationship. The second preset functional relationship includes a first motion amplitude functional relationship and a second motion amplitude functional relationship. As shown Figures 6 to 10 As shown, the dexterous finger 10 also includes a support member 15, a side-swing base 16, and a finger joint assembly 17. The support member 15 forms a first fixed portion. The side-swing base 16 forms a first rotating portion and a second fixed portion, which is rotatably connected to the support member 15 around a first axis A1. The finger joint assembly 17 forms a second rotating portion, which is rotatably connected to the side-swing base 16 around a second axis A2. The second axis A2 is perpendicular to the first axis A1. The first end of the first tendon 131 is connected to the finger joint assembly 17, the second end of the first tendon 131 is connected to the first driving source 121, the first end of the second tendon 132 is connected to the finger joint assembly 17, and the second end of the second tendon 132 is connected to the second driving source 122.

[0168] Since the controller 14 of the dexterous hand finger 10 adopts the control method of the dexterous hand finger of the above embodiment to control the movement of the driving source 12, the dexterous hand finger 10 has all the technical features and technical effects of the control method of the dexterous hand finger, which will not be repeated here.

[0169] Figure 16 The figure shows a schematic diagram of the structure of the dexterous hand provided by an embodiment of the present disclosure. Figure 16 As shown, the dexterous hand 1 includes at least one dexterous hand finger 10. In some embodiments, the dexterous hand 1 further includes a palm 20. The dexterous hand finger 10 is connected to the palm 20.

[0170] Since the dexterous hand 1 includes the dexterous hand fingers 10 mentioned in the above embodiment, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand fingers 10, which will not be repeated here.

[0171] In the various embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, snaps, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, non-detachable connections may be achieved through welding, bonding, etc.

[0172] Below, reference Figure 17 An electronic device according to an embodiment of the present disclosure is described. Figure 17 Shown is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure.

[0173] like Figure 17As shown, electronic device 1700 includes one or more processors 1710 and memory 1720 .

[0174] The processor 1710 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 1700 to perform desired functions.

[0175] The memory 1720 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and the processor 1710 may execute the program instructions to implement the control methods of the dexterous hand fingers of the various embodiments of the present disclosure mentioned above and / or other desired functions. Various contents such as structural parameters of the dexterous hand fingers may also be stored in the computer-readable storage medium.

[0176] In one example, the electronic device 1700 may further include an input device 1730 and an output device 1740 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0177] The input device 1730 may include, for example, a keyboard, a mouse, etc. The output device 1740 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0178] Of course, to simplify, Figure 17 Only some of the components related to the present disclosure in the electronic device 1700 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 1700 may further include any other appropriate components.

[0179] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the control method of the dexterous hand fingers according to various embodiments of the present disclosure described above in this specification.

[0180] The computer program product may be written in any combination of one or more programming languages ​​to implement the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0181] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the method for controlling the fingers of a dexterous hand according to various embodiments of the present disclosure described above in this specification.

[0182] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0183] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0184] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0185] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0186] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0187] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for controlling fingers of a dexterous hand, characterized in that: Applicable to a finger of a dexterous hand, the finger comprising at least one joint, at least one driving source, and at least one tendon cord, wherein the joint comprises a fixed portion and a rotating portion rotatably connected to the fixed portion, a first end of the tendon cord being connected to the rotating portion, and a second end of the tendon cord being connected to the driving source via the fixed portion, wherein the driving source drives the rotating portion to rotate via the tendon cord; The control method of the dexterous hand fingers includes: A target length determination step is performed: determining a target length of the tendon cord based on a first preset functional relationship and a target angle of the joint, wherein the first preset functional relationship is determined based on the structure of the fingers of the dexterous hand and is used to represent a functional relationship between the angle of the joint and the length of the tendon cord, wherein the length of the tendon cord is the length from the first end of the tendon cord to the position of the tendon cord corresponding to the preset position of the fixing portion; Current length determination step: determining the current length of the tendon based on the first preset functional relationship and the current angle of the joint; Length change determination step: determining the length change of the tendon cord based on the target length of the tendon cord and the current length of the tendon cord; Motion amplitude determination step: Based on a second preset functional relationship and the length change of the tendon rope, determine the motion amplitude of the driving source, so as to utilize the driving source to drive the rotating part to move to the target angle of the joint through the tendon rope, and the second preset functional relationship is determined based on the structure of the driving source.

2. The method for controlling the fingers of a dexterous hand according to claim 1, characterized in that: cyclically executing the target length determining step, the current length determining step, the length change determining step, and the motion amplitude determining step n times; After the driving source is used to drive the rotating part to move to the target angle of the joint through the tendon in this cycle, the target angle of the joint in this cycle is used as the current angle of the joint in the next cycle.

3. The method for controlling the fingers of a dexterous hand according to claim 2, characterized in that: Before the current length determination step is performed for the first time after the finger of the dexterous hand is powered on, the method further includes: Receive the current angle of the joint sent by the sensor of the joint.

4. The method for controlling the fingers of a dexterous hand according to any one of claims 1 to 3, characterized in that: The method for determining the first preset functional relationship includes: determining a plurality of angles of the joint; When the rotating portion of the joint moves to the multiple angles respectively, recording multiple lengths of the tendon cord; A fitting calculation is performed based on the fitting function, the multiple angles, and the multiple lengths to determine the first preset functional relationship.

5. The method for controlling the fingers of a dexterous hand according to claim 4, characterized in that: The fitting function includes a polynomial fitting function.

6. The method for controlling the fingers of a dexterous hand according to any one of claims 1 to 3, characterized in that: The joint includes a side swing joint and a bending joint, the side swing joint includes a first fixed portion and a first rotating portion, the bending joint includes a second fixed portion and a second rotating portion, the tendon cord includes a first tendon cord and a second tendon cord, the drive source includes a first drive source and a second drive source, the first preset functional relationship includes a first tendon cord length functional relationship and a second tendon cord length functional relationship, and the second preset functional relationship includes a first motion amplitude functional relationship and a second motion amplitude functional relationship; Wherein, the dexterous hand fingers also include: a support member, forming the first fixing portion; a side swing base, forming the first rotating portion and the second fixed portion, and being rotatably connected to the support member around a first axis; a finger joint assembly, forming the second rotating portion, and being rotatably connected to the side swing base about a second axis, the second axis being perpendicular to the first axis; Wherein, the first end of the first tendon cord is connected to the finger joint assembly, the second end of the first tendon cord is connected to the first driving source, the first end of the second tendon cord is connected to the finger joint assembly, and the second end of the second tendon cord is connected to the second driving source; Wherein, the target length determination step includes: determining a target length of the first tendon based on a functional relationship of the first tendon length, a target angle of the lateral swing joint, and a target angle of the flexion joint; determining a target length of the second tendon based on a functional relationship of the second tendon length, a target angle of the swing joint, and a target angle of the flexion joint; The current length determination step includes: determining a current length of the first chord based on the functional relationship of the first chord length, the current angle of the roll joint, and the current angle of the flexion joint; determining a current length of the second tendon based on the functional relationship of the second tendon length, the current angle of the swing joint, and the current angle of the flexion joint; The length change determination step includes: determining a length change of the first tendon cord based on a target length of the first tendon cord and a current length of the first tendon cord; determining a change in length of the second tendon based on a target length of the second tendon and a current length of the second tendon; The step of determining the movement amplitude includes: determining the motion amplitude of the first driving source based on the first motion amplitude functional relationship and the length change of the first tendon cord; Based on the second motion amplitude function relationship and the length change of the second tendon rope, the motion amplitude of the second driving source is determined, so as to use the first driving source and the second driving source to drive the first rotating part and / or the second rotating part to the target angle of the side swing joint and / or the target angle of the bending joint through the first tendon rope and the second tendon rope respectively.

7. The method for controlling the fingers of a dexterous hand according to any one of claims 1 to 3, characterized in that: In the case where the driving source includes a push rod motor, the second preset functional relationship includes: The movement amplitude of the driving source = the length change of the tendon rope / the push rod pitch of the push rod motor; In the case where the driving source includes a rotating electrical machine, the second preset functional relationship includes: The movement amplitude of the driving source = the length change of the tendon cord / the radius of the output shaft of the rotating motor; In the case where the driving source includes a linear drive, the second preset functional relationship includes: The movement amplitude of the driving source = the length change of the tendon cord.

8. The method for controlling fingers of a dexterous hand according to any one of claims 1 to 3, characterized in that: Before determining the target length of the tendon based on the first preset functional relationship and the target angle of the joint, the method includes: Receiving an operation instruction sent by an operating device, wherein the operating device includes a remote controller, a radio device, and a remote sensing device; Based on the operation instruction, a target angle of the joint is determined.

9. A dexterous finger, characterized in that: include: at least one joint, the joint comprising a fixed portion and a rotating portion rotatably connected to the fixed portion; at least one tendon cord, a first end of the tendon cord being connected to the rotating portion; at least one driving source, wherein the second end of the tendon cord is connected to the driving source through the fixing portion, and the driving source is configured to drive the rotating portion of at least one of the joints to rotate via the at least one tendon cord; A controller is communicatively connected to at least one of the driving sources and is configured to control the operation of the driving source using the control method for the dexterous hand fingers according to any one of claims 1 to 8.

10. A dexterous hand, characterized in that: include: At least one finger of the dexterous hand of claim 9.

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