Bionic hand control method and device, bionic hand and robot

Abstract

The invention discloses a bionic hand control method and device, a bionic hand and a robot. The method comprises the steps that the current pressure value of each finger when the bionic hand grabs a target object is obtained; respectively calculating a difference value between the preset pressure value and each current pressure value to obtain each current error; respectively inputting each current error into a PID feedback control algorithm for calculation to obtain each speed control value; and controlling the movement of each finger according to each speed control value, and re-executing the step of acquiring the current pressure value of each finger when the bionic hand grabs the target object. According to the method, the current pressure value of each finger is continuously obtained, and the speed control value of each finger is determined according to the current pressure value of each finger, so that the movement of each finger is controlled according to the speed control value of each finger, the bionic hand can respond to the target object in real time, the situation that the grabbing force is insufficient, too large or uneven is avoided, and the grabbing efficiency is improved. And the grabbing failure rate is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of bionic hands, and in particular to a bionic hand control method, device, bionic hand and robot. Background Art

[0002] A bionic hand is an artificial device that mimics the structure, movement, and perception of the human hand. It is primarily used in scenarios such as human-machine collaboration, rehabilitation assistance, and intelligent prosthetics. Existing methods for controlling bionic hands often rely on position control or preset motion trajectory control.

[0003] However, using position control or preset motion trajectory control to control the bionic hand will make the bionic hand unable to respond to the target object in real time, which may easily lead to insufficient, excessive or uneven grasping force, thereby causing grasping failure.

[0004] Therefore, there is still an urgent need for a bionic hand control method that can reduce the grasping failure rate. Summary of the Invention

[0005] The main purpose of this application is to propose a bionic hand control method, device, bionic hand and robot to solve the existing defects of insufficient, excessive or uneven grasping force, resulting in grasping failure.

[0006] To achieve the above objectives, the present application proposes a bionic hand control method, which includes: Obtaining a current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers; Calculating the difference between the preset pressure value and each current pressure value to obtain each current error; Inputting each current error into a PID feedback control algorithm to calculate each speed control value; The movement of each finger is controlled according to each speed control value, and the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object is re-executed.

[0007] In some embodiments, the preset pressure value includes a preset finger pressure value of each finger; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, the method further includes: Obtaining item information of the target item to be grasped; The preset finger pressure value of each finger is configured according to the item information.

[0008] In some embodiments, obtaining the current pressure value of each finger of the bionic hand when grasping the target object includes: Determining whether the preset finger pressure value of each finger is zero; If the preset finger pressure value of the finger is zero, marking the finger as an idle finger; If the preset finger pressure value of the finger is not zero, marking the finger as a working finger; Each of the working fingers is controlled to grasp the target object, and the current pressure value of each of the working fingers is obtained.

[0009] In some embodiments, the speed control values ​​are calculated according to the following formula: in, Indicates the The speed control value of the finger, Indicates the The current error of the finger, Indicates the A proportional adjustment term of the current error of the finger, represents the proportional adjustment parameter, Indicates the an integral adjustment term of the current error of the finger, represents the integral adjustment parameter, Indicates the A differential adjustment term of the current error of the finger, represents the differential adjustment parameter.

[0010] In some embodiments, after respectively calculating the difference between the preset pressure value and each current pressure value to obtain each current error, the method further includes: Determining whether the absolute value of each current error is less than a preset error; When the absolute value of the current error is less than the preset error, setting the speed control value of the finger to zero and removing the current error; When the absolute value of the current error is greater than or equal to the preset error, retaining the current error; Based on all the retained current errors, the step of inputting each current error into a PID feedback control algorithm to calculate and obtain each speed control value is performed.

[0011] In some embodiments, controlling the movement of each finger according to each speed control value includes: Determining whether the speed control value is greater than zero; If the speed control value is greater than zero, the finger is controlled to move inward, wherein the palm side of the bionic hand is the inner side and the back side of the hand is the outer side; If the speed control value is equal to zero, the finger is controlled to stop moving; If the speed control value is less than zero, the finger is controlled to move outward.

[0012] The present application also proposes a bionic hand control device, which includes: an acquiring unit, configured to acquire a current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes a plurality of fingers; a calculation unit, configured to respectively calculate the difference between the preset pressure value and each current pressure value to obtain each current error; The calculation unit is further configured to input each current error into a PID feedback control algorithm to calculate and obtain each speed control value; The control unit is used to control the movement of each finger according to each speed control value, and re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

[0013] In some embodiments, the calculation unit is further configured to calculate the speed control values ​​according to the following formula: in, Indicates the The speed control value of the finger, Indicates the The current error of the finger, Indicates the A proportional adjustment term of the current error of the finger, represents the proportional adjustment parameter, Indicates the an integral adjustment term of the current error of the finger, represents the integral adjustment parameter, Indicates the A differential adjustment term of the current error of the finger, represents the differential adjustment parameter.

[0014] The present application also proposes a bionic hand, which includes a controller and multiple fingers, each of the fingers is equipped with a pressure tactile sensor, and the pressure tactile sensor is used to collect the current pressure value of the finger in real time. The controller can execute any of the bionic hand control methods described above.

[0015] The present application also proposes a robot, which includes a robot body and the bionic hand as described above.

[0016] The present application obtains the current pressure value of each finger of the bionic hand when grasping the target object, wherein the bionic hand includes multiple fingers; calculates the difference between the preset pressure value and each current pressure value to obtain each current error; inputs each current error into the PID feedback control algorithm to calculate each speed control value; controls the movement of each finger according to each speed control value, and re-executes the step of obtaining the current pressure value of each finger of the bionic hand when grasping the target object; continuously obtains the current pressure value of each finger, and determines the speed control value of each finger according to the current pressure value of each finger, thereby controlling the movement of each finger according to the speed control value of each finger, so that the bionic hand can respond to the target object in real time, avoids insufficient, excessive or uneven grasping force, and reduces the grasping failure rate and the damage rate of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the flow of the bionic hand control method in the embodiment of the present application; Figure 2 This is another flowchart of the bionic hand control method in an embodiment of the present application; Figure 3 This is another flowchart of the bionic hand control method in an embodiment of the present application; Figure 4 This is another flowchart of the bionic hand control method in an embodiment of the present application; Figure 5 This is another flowchart of the bionic hand control method in an embodiment of the present application; Figure 6 This is a schematic structural diagram of a bionic hand control device according to an embodiment of the present application; Figure 7 This is a schematic structural diagram of the bionic hand involved in the embodiment of this application.

[0018] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the schemes in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments in this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0022] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] To achieve the above objectives, the present application proposes a bionic hand control method, which includes: Step S110, obtaining the current pressure value of each finger of the bionic hand when grasping the target object, wherein the bionic hand includes multiple fingers; Step S120, respectively calculating the difference between the preset pressure value and each current pressure value to obtain each current error; Step S130, inputting each current error into the PID feedback control algorithm to calculate and obtain each speed control value; Step S140 , controlling the movement of each finger according to each speed control value, and re-performing the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

[0024] In this embodiment, referring to Figure 1 、 Figure 6 and Figure 7 , the bionic hand control method can be applied to the bionic hand. The bionic hand includes a controller and multiple fingers, each finger is equipped with a pressure tactile sensor, and the pressure tactile sensor is used to collect the current pressure value of the finger in real time. The controller is connected to each finger and can control each finger to work. The controller may include Figure 6 The bionic hand control device shown in FIG. In this embodiment, the execution subject of the method steps is the controller.

[0025] It's understandable that each finger also includes a driver module, and the controller controls the operation of each finger by controlling the driver module. The controller also controls the pressure tactile sensor on each finger to collect the current pressure value of each finger in real time. The PID (Proportional-Integral-Derivative) feedback control algorithm is a classic control strategy based on "error feedback." Through the coordinated action of the proportional (P), integral (I), and differential (D) elements, it dynamically adjusts the output, allowing the actual state of the controlled object (such as position, velocity, pressure, etc.) to stably and rapidly approach the target state.

[0026] The controller can obtain the current pressure value of each finger of the bionic hand when grasping a target object. The bionic hand includes multiple fingers; generally, the bionic hand includes five fingers. For example, when the bionic hand grasps the target object, the controller can control the pressure tactile sensors on each finger to start working, thereby collecting the current pressure value of each finger in real time.

[0027] The preset pressure values ​​include preset finger pressure values ​​for each finger, and each finger can be set with a corresponding preset finger pressure value. The preset finger pressure values ​​for each finger can be consistent or inconsistent. The preset finger pressure values ​​for each finger can be set based on actual conditions. For example, the preset finger pressure value for each finger is set based on the optimal gripping force required for each finger to grasp a target object.

[0028] After the controller obtains the current pressure value for each finger, it calculates the difference between the preset pressure value and each current pressure value to obtain the current error. For example, for any finger, the controller can subtract the current pressure value from the preset finger pressure value to obtain the current error for that finger. Once the controller completes the calculation for all fingers, it can obtain the current error for each finger.

[0029] After the controller determines the current error for each finger, it feeds each error into the PID feedback control algorithm to calculate the speed control value. For example, for any finger, the controller can input the current error of that finger into the PID feedback control algorithm to calculate the speed control value for that finger. Once the controller completes the calculation for all fingers, it can determine the speed control value for each finger.

[0030] After obtaining the speed control values ​​for each finger, the controller can control the movement of each finger based on the speed control values ​​and re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object. For example, after obtaining the speed control values ​​for each finger, the controller can control the operation of the drive module of each finger based on the speed control values, thereby controlling the movement of each finger. After controlling the movement of each finger, the controller will re-execute step S110 to begin the next round of bionic hand control, forming a closed-loop control process.

[0031] Through this embodiment, the current pressure value of each finger of the bionic hand when grasping the target object is obtained, wherein the bionic hand includes multiple fingers; the difference between the preset pressure value and each current pressure value is calculated respectively to obtain each current error; each current error is input into the PID feedback control algorithm for calculation to obtain each speed control value; the movement of each finger is controlled according to each speed control value, and the step of obtaining the current pressure value of each finger of the bionic hand when grasping the target object is re-executed; by continuously obtaining the current pressure value of each finger, and determining the speed control value of each finger according to the current pressure value of each finger, and thus controlling the movement of each finger according to the speed control value of each finger, the bionic hand can respond to the target object in real time, avoid the situation where the grasping force is insufficient, excessive or uneven, and reduce the grasping failure rate and the damage rate of the target object.

[0032] In some embodiments, the preset pressure value includes a preset finger pressure value of each finger; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, the method further includes: Step S150, obtaining item information of the target item to be grasped; Step S151 : configuring a preset finger pressure value for each finger according to the object information.

[0033] In this embodiment, referring to Figure 2 Before executing step S110, the controller also needs to configure the preset finger pressure value of each finger. The preset pressure value includes the preset finger pressure value of each finger. That is, each finger has a corresponding preset finger pressure value. The controller can first obtain the item information of the target item, wherein the target item is the item to be grasped by the bionic hand. The item information of the target item can be obtained automatically or manually. For example: the bionic hand can also include a visual module, and the controller can control the visual module to capture the image of the target item, and then analyze the image to determine the item information; at this time, the controller can obtain the item information. Alternatively, the bionic hand also includes a communication module and / or a communication interface, the communication module can be wirelessly connected to the user terminal, and the communication interface can be wired to the user terminal, and the user can directly send the item information of the target item to the controller through the user terminal; at this time, the controller can also obtain the item information.

[0034] The object information may include the shape and weight of the object. The controller may configure the preset finger pressure value of each finger according to the shape and weight of the object. In daily life, when people grasp different objects with their hands, the number of fingers required may be different; similarly, the same can be true for bionic hands. For example, the controller may select a number of fingers according to the shape of the object, so as to grasp the target object with a number of fingers, and then configure the preset finger pressure values ​​of the fingers according to the weight of the object, so that the target object can be grasped stably by the fingers. The controller may also configure the preset finger pressure values ​​of all fingers, and the preset finger pressure values ​​of the fingers that are not selected may be set to zero.

[0035] In some embodiments, the aforementioned obtaining of the current pressure value of each finger of the bionic hand when grasping the target object includes: Step S160 , determining whether the preset finger pressure value of each finger is zero; Step S161 , if the preset finger pressure value of the finger is zero, the finger is marked as an idle finger; Step S162 , if the preset finger pressure value of the finger is not zero, the finger is marked as a working finger; Step S163 , controlling each working finger to grasp the target object, and obtaining the current pressure value of each working finger.

[0036] In this embodiment, referring to Figure 3 When the controller executes step S110, it is necessary to first determine whether the preset finger pressure value of each finger is zero. After configuring the preset finger pressure value of each finger, it is possible to determine whether the preset finger pressure value of each finger is zero.

[0037] When the preset finger pressure value of the finger is zero, the controller can determine that the finger does not need to participate in grasping the target object. At this time, the controller can mark the finger as an idle finger.

[0038] When the preset finger pressure value of the finger is not zero, the controller can determine that the finger needs to participate in grasping the target object. At this time, the controller can mark the finger as a working finger.

[0039] After the controller has determined the preset finger pressure values ​​for all fingers, it counts all working fingers, controls each working finger to grasp the target object, and obtains the current pressure value of each working finger. For example, once the controller has determined all working fingers, it only needs to control these working fingers to grasp the target object; it then controls the pressure tactile sensor of each working finger to obtain the current pressure value of each working finger.

[0040] In a preferred embodiment, each current error is calculated according to the following formula: in, Indicates the fingers, , Indicates the The current error of the root finger, Indicates the The preset finger pressure value of the root finger, Indicates the The current pressure value of the finger.

[0041] In this embodiment, the controller can calculate each current error according to the following formula: in, Indicates the fingers, , Indicates the The current error of the root finger, Indicates the The preset finger pressure value of the root finger, Indicates the The current pressure value of the finger.

[0042] For any finger, the controller only needs to substitute the preset finger pressure value and the current pressure value of the finger into the formula to obtain the current error of the finger.

[0043] In some embodiments, each speed control value is calculated according to the following formula: in, Indicates the The speed control value of the root finger, Indicates the The current error of the root finger, Indicates the The proportional adjustment item of the current error of the root finger, represents the proportional adjustment parameter, Indicates the The integral adjustment item of the current error of the root finger, represents the integral adjustment parameter, Indicates the The differential adjustment item of the current error of the root finger, represents the differential adjustment parameter.

[0044] In this embodiment, the controller can calculate each speed control value according to the following formula: in, Indicates the The speed control value of the root finger, Indicates the The current error of the root finger, Indicates the The proportional adjustment item of the current error of the root finger, represents the proportional adjustment parameter, Indicates the The integral adjustment item of the current error of the root finger, represents the integral adjustment parameter, Indicates the The differential adjustment item of the current error of the root finger, represents the differential adjustment parameter.

[0045] For any finger, the controller can set the proportional adjustment parameter, integral adjustment parameter and differential adjustment parameter according to the actual situation, and then substitute the current error, proportional adjustment parameter, integral adjustment parameter and differential adjustment parameter of the finger into this formula to obtain the speed control value of the finger.

[0046] In some embodiments, after respectively calculating the difference between the preset pressure value and each current pressure value to obtain each current error, the method further includes: Step S170, determining whether the absolute value of each current error is less than a preset error; Step S171, when the absolute value of the current error is less than the preset error, the finger speed control value is set to zero and the current error is removed; Step S172: When the absolute value of the current error is greater than or equal to the preset error, retain the current error; Step S173 , based on all retained current errors, executing the step of inputting each current error into a PID feedback control algorithm to calculate and obtain each speed control value.

[0047] In this embodiment, referring to Figure 4 After executing step S120, the controller also needs to determine whether the absolute value of each current error is less than a preset error. The preset error can be set based on the minimum resolution (accuracy) of the pressure tactile sensor. For example, if the pressure tactile sensor has a measurement accuracy of ±0.2 Newtons (N), the preset error can be set to 0.2, or slightly greater. A value slightly greater than the minimum resolution of the pressure tactile sensor can filter out noise.

[0048] The controller can determine whether the absolute value of each current error is less than a preset error. For example, the controller first performs an absolute value operation on each current error to obtain the absolute value of each current error, and then determines whether the absolute value of each current error is less than a preset error.

[0049] When the absolute value of the current error is less than the preset error, the controller can determine that the absolute value of the current error is less than the minimum resolution of the pressure tactile sensor. At this time, the controller can set the finger speed control value to zero and remove the current error, so as not to continue the next step of operation on the current error.

[0050] When the absolute value of the current error is greater than or equal to the preset error, the controller can determine that the absolute value of the current error is greater than or equal to the minimum resolution of the pressure tactile sensor. At this time, the controller can retain the current error and continue to perform the next operation on the current error.

[0051] Based on all retained current errors, the controller can execute the step of inputting each current error into a PID feedback control algorithm to calculate and obtain each speed control value. That is, the controller can continue to execute step S130 based on all retained current errors. This embodiment can avoid unnecessary control due to minor disturbances or noise while ensuring control accuracy.

[0052] In some embodiments, the aforementioned controlling the movement of each finger according to each speed control value includes: Step S180, determining whether the speed control value is greater than zero; Step S181: If the speed control value is greater than zero, the fingers are controlled to move inward, wherein the palm side of the bionic hand is the inner side and the back side of the hand is the outer side; Step S182: If the speed control value is zero, the finger is controlled to stop moving; Step S183: If the speed control value is less than zero, the finger is controlled to move outward.

[0053] In this embodiment, referring to Figure 5 When executing step S140, the controller needs to determine whether the speed control value is greater than zero. The speed control value may be signed. The sign can be used to indicate the direction of finger movement. After obtaining the speed control value, the controller may first determine whether the speed control value is greater than zero. The palm side of the bionic hand is considered the inner side, and the back side of the hand is considered the outer side.

[0054] If the speed control value is greater than zero, it means that the finger is unstable when grasping the target object, and the grasping force of the finger needs to be increased, that is, the finger needs to be controlled to move inward. In this case, the controller can control the driving module of the finger according to the speed control value to drive the finger to move inward.

[0055] If the speed control value is zero, it indicates that the finger is stable when grasping the target object. In this case, there is no need to increase or decrease the gripping force of the finger. In other words, the finger needs to be stopped. In this case, the controller can control the driving module of the finger according to the speed control value to drive the finger to stop moving.

[0056] If the speed control value is less than zero, it means that the finger is using too much force when grasping the target object. In this case, the grasping force of the finger needs to be reduced, that is, the finger needs to be controlled to move outward. In this case, the controller can control the driving module of the finger according to the speed control value to drive the finger to move outward.

[0057] The present application obtains the current pressure value of each finger of the bionic hand when grasping the target object, wherein the bionic hand includes multiple fingers; calculates the difference between the preset pressure value and each current pressure value to obtain each current error; inputs each current error into the PID feedback control algorithm to calculate each speed control value; controls the movement of each finger according to each speed control value, and re-executes the step of obtaining the current pressure value of each finger of the bionic hand when grasping the target object; continuously obtains the current pressure value of each finger, and determines the speed control value of each finger according to the current pressure value of each finger, thereby controlling the movement of each finger according to the speed control value of each finger, so that the bionic hand can respond to the target object in real time, avoids insufficient, excessive or uneven grasping force, and reduces the grasping failure rate and the damage rate of the target object.

[0058] Reference Figure 6 The present application also proposes a bionic hand control device 20, which includes: an acquisition unit 201, configured to acquire a current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers; A calculation unit 202 is configured to calculate the difference between the preset pressure value and each current pressure value to obtain each current error; The calculation unit 202 is further configured to input each current error into a PID feedback control algorithm to calculate and obtain each speed control value; The control unit 203 is configured to control the movement of each finger according to each speed control value, and re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

[0059] In some embodiments, the preset pressure value includes a preset finger pressure value of each finger; the bionic hand control device 20 further includes: The acquisition unit 201 is further configured to acquire item information of the target item to be captured; A configuration unit is configured to configure the preset finger pressure value of each finger according to the item information.

[0060] In some embodiments, the acquiring unit 201 is specifically configured to: Determining whether the preset finger pressure value of each finger is zero; If the preset finger pressure value of the finger is zero, marking the finger as an idle finger; If the preset finger pressure value of the finger is not zero, marking the finger as a working finger; Each of the working fingers is controlled to grasp the target object, and the current pressure value of each of the working fingers is obtained.

[0061] In some embodiments, the calculation unit 202 is further configured to calculate the speed control values ​​according to the following formula: in, Indicates the The speed control value of the finger, Indicates the The current error of the finger, Indicates the A proportional adjustment term of the current error of the finger, represents the proportional adjustment parameter, Indicates the an integral adjustment term of the current error of the finger, represents the integral adjustment parameter, Indicates the A differential adjustment term of the current error of the finger, represents the differential adjustment parameter.

[0062] In some embodiments, the bionic hand control device 20 further includes: a judging unit, configured to judge whether the absolute value of each current error is less than a preset error; a removing unit, configured to set the speed control value of the finger to zero and remove the current error when the absolute value of the current error is less than the preset error; a retaining unit, configured to retain the current error when the absolute value of the current error is greater than or equal to the preset error; The calculation unit 202 is further configured to, based on all the retained current errors, execute the step of inputting each current error into a PID feedback control algorithm to calculate and obtain each speed control value.

[0063] In some embodiments, the control unit 203 is specifically configured to: Determining whether the speed control value is greater than zero; If the speed control value is greater than zero, the finger is controlled to move inward, wherein the palm side of the bionic hand is the inner side and the back side of the hand is the outer side; If the speed control value is equal to zero, the finger is controlled to stop moving; If the speed control value is less than zero, the finger is controlled to move outward.

[0064] Reference Figure 7 The present application also proposes a bionic hand 30, which includes a controller 301 and multiple fingers 302. Each finger 302 is equipped with a pressure tactile sensor 303. The pressure tactile sensor 303 is used to collect the current pressure value of the finger 302 in real time. The controller 301 can execute any of the bionic hand control methods described above.

[0065] In this embodiment, referring to Figure 6 and Figure 7 The bionic hand 30 includes a controller 301 and multiple fingers 302. Each finger 302 is equipped with a pressure tactile sensor 303. The pressure tactile sensor 303 is used to collect the current pressure value of the finger 302 in real time. The controller 301 is connected to each finger 302 and can control each finger 302 to work. The controller 301 may include: Figure 6 The bionic hand control device 20 is shown.

[0066] Each finger 302 also includes a driving module, and the controller 301 controls the driving module of each finger 302 to control the operation of each finger 302. The controller 301 can also control the pressure tactile sensor 303 of each finger 302 to collect the current pressure value of each finger 302 in real time.

[0067] The present application also proposes a robot, which includes a robot body and the bionic hand as described above.

[0068] The above description is only a partial or preferred embodiment of the present application. Neither the text nor the drawings can limit the scope of protection of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the overall concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection of the present application.

Claims

1. A bionic hand control method, characterized in that: The bionic hand control method comprises: Obtaining a current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers; Calculating the difference between the preset pressure value and each current pressure value to obtain each current error; Inputting each current error into a PID feedback control algorithm to calculate each speed control value; The movement of each finger is controlled according to each speed control value, and the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object is re-executed.

2. The bionic hand control method according to claim 1, characterized in that: The preset pressure value includes the preset finger pressure value of each finger; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, it also includes: Obtaining item information of the target item to be grasped; The preset finger pressure value of each finger is configured according to the item information.

3. The bionic hand control method according to claim 2, characterized in that: The obtaining of the current pressure value of each finger of the bionic hand when grasping the target object includes: Determining whether the preset finger pressure value of each finger is zero; If the preset finger pressure value of the finger is zero, marking the finger as an idle finger; If the preset finger pressure value of the finger is not zero, marking the finger as a working finger; Each of the working fingers is controlled to grasp the target object, and the current pressure value of each of the working fingers is obtained.

4. The bionic hand control method according to claim 2, characterized in that: The speed control values ​​are calculated according to the following formula: in, Indicates the The speed control value of the finger, Indicates the The current error of the finger, Indicates the A proportional adjustment term of the current error of the finger, represents the proportional adjustment parameter, Indicates the an integral adjustment term of the current error of the finger, represents the integral adjustment parameter, Indicates the A differential adjustment term of the current error of the finger, represents the differential adjustment parameter.

5. The bionic hand control method according to claim 1, characterized in that: After respectively calculating the difference between the preset pressure value and each current pressure value to obtain each current error, the method further includes: Determining whether the absolute value of each current error is less than a preset error; When the absolute value of the current error is less than the preset error, setting the speed control value of the finger to zero and removing the current error; When the absolute value of the current error is greater than or equal to the preset error, retaining the current error; Based on all the retained current errors, the step of inputting each current error into a PID feedback control algorithm to calculate and obtain each speed control value is performed.

6. The bionic hand control method according to claim 1, characterized in that: The controlling the movement of each finger according to each speed control value includes: Determining whether the speed control value is greater than zero; If the speed control value is greater than zero, the finger is controlled to move inward, wherein the palm side of the bionic hand is the inner side and the back side of the hand is the outer side; If the speed control value is equal to zero, the finger is controlled to stop moving; If the speed control value is less than zero, the finger is controlled to move outward.

7. A bionic hand control device, characterized in that: The bionic hand control device comprises: an acquiring unit, configured to acquire a current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes a plurality of fingers; a calculation unit, configured to respectively calculate the difference between the preset pressure value and each current pressure value to obtain each current error; The calculation unit is further configured to input each current error into a PID feedback control algorithm to calculate and obtain each speed control value; The control unit is used to control the movement of each finger according to each speed control value, and re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

8. The bionic hand control device according to claim 7, characterized in that: The calculation unit is further specifically configured to calculate each of the speed control values ​​according to the following formula: in, Indicates the The speed control value of the finger, Indicates the The current error of the finger, Indicates the A proportional adjustment term of the current error of the finger, represents the proportional adjustment parameter, Indicates the an integral adjustment term of the current error of the finger, represents the integral adjustment parameter, Indicates the A differential adjustment term of the current error of the finger, represents the differential adjustment parameter.

9. A bionic hand, characterized in that: The bionic hand includes a controller and multiple fingers, each of the fingers is equipped with a pressure tactile sensor, and the pressure tactile sensor is used to collect the current pressure value of the finger in real time. The controller can execute the bionic hand control method according to any one of claims 1 to 6.

10. A robot, characterized in that: The robot comprises a robot body and the bionic hand as claimed in claim 9.

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