Bionic hand control method and device, bionic hand and robot

Abstract

The application discloses a bionic hand control method and device, a bionic hand and a robot. The method comprises the following steps: acquiring current pressure values of fingers of the bionic hand when the bionic hand is grabbing a target object; calculating differences between preset pressure values and the current pressure values to obtain current errors; inputting the current errors into a PID feedback control algorithm to obtain speed control values; and controlling movements of the fingers according to the speed control values, and re-executing the step of acquiring the current pressure values of the fingers of the bionic hand when the bionic hand is grabbing the target object. The current pressure values of the fingers are continuously acquired, and the speed control values of the fingers are determined according to the current pressure values of the fingers, so that the movements of the fingers are controlled according to the speed control values of the fingers, the bionic hand can respond to the target object in real time, the situations of insufficient, excessive or uneven grabbing strength are avoided, and the failure rate of grabbing is reduced.

Description

Technical Field

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

[0002] A bionic hand is an artificial device that mimics the structure, motor function, and sensory abilities of the human hand, primarily used in human-machine collaboration, rehabilitation assistance, and intelligent prostheses. Current methods for controlling bionic hands mostly employ position control or preset motion trajectory control.

[0003] However, using position control or preset motion trajectory control to control the bionic hand will prevent the bionic hand from responding to the target object in real time, which can easily lead to insufficient, excessive or uneven grasping force, resulting in grasping failure.

[0004] Therefore, there is still an urgent need for a bionic hand control method that can reduce the failure rate of grasping. 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 problem that existing methods are prone to insufficient, excessive or uneven grasping force, which leads to grasping failure.

[0006] To achieve the above objectives, this application proposes a bionic hand control method, which includes:

[0007] The current pressure value of each finger of the bionic hand is obtained when the bionic hand grasps a target object, wherein the bionic hand includes multiple fingers;

[0008] Each current error is obtained by calculating the difference between the preset pressure value and each current pressure value;

[0009] Each current error is input into the PID feedback control algorithm to calculate the speed control value.

[0010] The movement of each finger is controlled according to the speed control value, and the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object is repeated.

[0011] In some embodiments, the preset pressure value includes a preset finger pressure value for each of the fingers; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, the method further includes:

[0012] Obtain the item information of the target item to be captured;

[0013] Configure the preset finger pressure value for each finger according to the item information.

[0014] In some embodiments, obtaining the current pressure values ​​of each finger of the bionic hand when grasping a target object includes:

[0015] Determine whether the preset finger pressure value of each finger is zero;

[0016] If the preset finger pressure value of the finger is zero, then the finger is marked as an idle finger;

[0017] If the preset finger pressure value of the finger is not zero, then the finger is marked as a working finger;

[0018] Control each of the working fingers to grasp the target item, and obtain the current pressure value of each of the working fingers.

[0019] In some embodiments, the speed control values ​​are calculated according to the following formula:

[0020]

[0021] in, Indicates the first Based on the speed control value of the finger, Indicates the first Based on the current error of the aforementioned finger, Indicates the first The proportional adjustment term based on the current error of the finger, This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term based on the current error of the finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term of the current error of the finger, This represents the differential adjustment parameter.

[0022] In some embodiments, after calculating the difference between the preset pressure value and each of the current pressure values ​​to obtain each current error, the method further includes:

[0023] Determine whether the absolute value of each current error is less than the preset error;

[0024] When the absolute value of the current error is less than the preset error, the speed control value of the finger is set to zero, and the current error is removed.

[0025] If the absolute value of the current error is greater than or equal to the preset error, the current error is retained.

[0026] Based on all the retained current errors, the step of inputting each current error into the PID feedback control algorithm to calculate each speed control value is performed.

[0027] In some embodiments, controlling the movement of each finger according to each of the speed control values ​​includes:

[0028] Determine whether the speed control value is greater than zero;

[0029] 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;

[0030] If the speed control value is equal to zero, then the finger is controlled to stop moving;

[0031] If the speed control value is less than zero, then the finger is controlled to move outward.

[0032] This application also proposes a bionic hand control device, the bionic hand control device comprising:

[0033] The acquisition unit is used to acquire the current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers;

[0034] The calculation unit is used to calculate the difference between the preset pressure value and each of the current pressure values ​​to obtain each current error;

[0035] The calculation unit is also used to calculate each speed control value by inputting each current error into the PID feedback control algorithm;

[0036] The control unit is used to control the movement of each of the fingers according to the speed control values, and to re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

[0037] In some embodiments, the calculation unit is further configured to calculate each of the speed control values ​​according to the following formula:

[0038]

[0039] in, Indicates the first Based on the speed control value of the finger, Indicates the first Based on the current error of the aforementioned finger, Indicates the first The proportional adjustment term based on the current error of the finger, This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term based on the current error of the finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term of the current error of the finger, This represents the differential adjustment parameter.

[0040] This application also proposes a bionic hand, which includes a controller and multiple fingers, each of which is equipped with a pressure tactile sensor. The pressure tactile sensor is used to collect the current pressure value of the finger in real time, and the controller is capable of executing the bionic hand control method described in any of the above.

[0041] This application also proposes a robot, which includes a robot body and a bionic hand as described above.

[0042] This application obtains the current pressure value of each finger of a bionic hand when grasping a target object. The bionic hand includes multiple fingers. It calculates the difference between a preset pressure value and each current pressure value to obtain a current error. Each current error is input into a PID feedback control algorithm to calculate a speed control value. The movement of each finger is controlled according to the speed control value, and the process of obtaining the current pressure value of each finger when grasping the target object is repeated. By continuously obtaining the current pressure value of each finger and determining the speed control value of each finger based on the current pressure value, the movement of each finger is controlled according to the speed control value. This allows the bionic hand to respond to the target object in real time, avoiding insufficient, excessive, or uneven grasping force, and reducing the grasping failure rate and the damage rate of the target object. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating the bionic hand control method in the embodiments of this application;

[0044] Figure 2 This is another flowchart illustrating the bionic hand control method in the embodiments of this application;

[0045] Figure 3 This is another flowchart illustrating the bionic hand control method in the embodiments of this application;

[0046] Figure 4 This is another flowchart illustrating the bionic hand control method in the embodiments of this application;

[0047] Figure 5 This is another flowchart illustrating the bionic hand control method in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the structure of the bionic hand control device according to the embodiments of this application;

[0049] Figure 7 This is a schematic diagram of the structure of the bionic hand involved in the embodiments of this application.

[0050] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0053] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0054] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0055] To achieve the above objectives, this application proposes a bionic hand control method, which includes:

[0056] Step S110: Obtain the current pressure value of each finger of the bionic hand when grasping the target object, wherein the bionic hand includes multiple fingers;

[0057] Step S120: Calculate the difference between the preset pressure value and each current pressure value to obtain each current error;

[0058] Step S130: Input each current error into the PID feedback control algorithm to calculate each speed control value;

[0059] Step S140: 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.

[0060] In this embodiment, refer to Figure 1 , Figure 6 and Figure 7 The bionic hand control method can be applied to a bionic hand. The bionic hand includes a controller and multiple fingers, each equipped with a pressure sensor to collect the current pressure value of the finger in real time. The controller is connected to each finger and can control the operation of each finger. The controller may include, for example... Figure 6 The bionic hand control device shown is an example. In this embodiment, the controller is the primary entity executing the method steps.

[0061] Understandably, each finger also includes a drive module. The controller controls the drive modules of each finger to control the operation of each finger. The controller can also control the pressure tactile sensors of each finger to collect the current pressure value of each finger in real time. 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 derivative (D) components, it dynamically adjusts the output to make the actual state of the controlled object (such as position, velocity, pressure, etc.) stably and quickly approach the target state.

[0062] The controller can acquire the current pressure values ​​of each finger of the bionic hand when it grasps a target object. The bionic hand includes multiple fingers; typically, it can include five fingers. For example, when the bionic hand grasps a target object, the controller can activate the pressure tactile sensors on each finger to collect the current pressure values ​​of each finger in real time.

[0063] The preset pressure values ​​include preset finger pressure values ​​for each finger, and each finger can have a corresponding preset finger pressure value. The preset finger pressure values ​​for each finger can be the same or different. The preset finger pressure values ​​for each finger can be set according to actual needs. For example, the preset finger pressure values ​​for each finger can be set based on the optimal gripping force required for each finger to grasp the target object.

[0064] After the controller obtains the current pressure value of each finger, it can calculate 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 of that finger from its preset finger pressure value to obtain the current error of that finger. After the controller has calculated the current error for all fingers, it can obtain the current error for each finger.

[0065] After obtaining the current error of each finger, the controller can input each current error into the PID feedback control algorithm to calculate the speed control value for each finger. 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. After the controller has calculated the speed control value for all fingers, it can obtain the speed control value for each finger.

[0066] After obtaining the speed control values ​​of each finger, the controller can control the movement of each finger based on these 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 ​​of each finger, the controller can control the drive module of each finger to work based on these values, thereby controlling the movement of each finger. After controlling the movement of each finger, the controller will re-execute step S110 to start the next round of bionic hand control, thus forming a closed-loop control process.

[0067] This embodiment obtains the current pressure value of each finger of the bionic hand when grasping a target object. The bionic hand includes multiple fingers. The difference between the preset pressure value and each current pressure value is calculated to obtain each current error. Each current error is input 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 repeated. 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, the movement of each finger is controlled according to the speed control value, so that the bionic hand can respond to the target object in real time, avoiding insufficient, excessive or uneven grasping force, and reducing the grasping failure rate and the damage rate of the target object.

[0068] In some embodiments, the preset pressure value includes the preset finger pressure value for each finger; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, the method further includes:

[0069] Step S150: Obtain the item information of the target item to be captured;

[0070] Step S151: Configure the preset finger pressure value for each finger according to the item information.

[0071] In this embodiment, refer to Figure 2 Before executing step S110, the controller needs to configure the preset finger pressure values ​​for each finger. These preset pressure values ​​include the preset finger pressure values ​​for each finger; that is, each finger has a corresponding preset finger pressure value. The controller can first acquire the object information of the target item, which is the object the bionic hand is to grasp. The object information can be acquired automatically or manually. For example, the bionic hand can also include a vision module, which the controller can control to acquire images of the target item, then analyze the images to determine the object information; in this case, the controller can acquire the object information. Alternatively, the bionic hand can also include 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, allowing the user to directly send the object information of the target item to the controller; in this case, the controller can also acquire the object information.

[0072] The object information can include the object's shape and weight. The controller can configure preset finger pressure values ​​for each finger based on the object's shape and weight. In daily life, the number of fingers used to grasp different objects varies; similarly, a bionic hand can do the same. For example, the controller can select several fingers based on the object's shape to grasp the target object, and then configure preset finger pressure values ​​for those fingers based on the object's weight, ensuring a stable grasp of the target object. The controller can also configure preset finger pressure values ​​for all fingers, while setting the preset finger pressure value for unselected fingers to zero.

[0073] In some embodiments, the aforementioned acquisition of the current pressure values ​​of each finger of the bionic hand when grasping a target object includes:

[0074] Step S160: Determine whether the preset finger pressure value of each finger is zero;

[0075] Step S161: If the preset finger pressure value of the finger is zero, then mark the finger as an idle finger.

[0076] Step S162: If the preset finger pressure value of the finger is not zero, then mark the finger as the working finger.

[0077] Step S163: Control each working finger to grasp the target object and obtain the current pressure value of each working finger.

[0078] In this embodiment, refer to Figure 3When executing step S110, the controller first needs to determine whether the preset finger pressure value of each finger is zero. After configuring the preset finger pressure value of each finger, it can then determine whether the preset finger pressure value of each finger is zero.

[0079] When the preset finger pressure value 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.

[0080] If the preset finger pressure value of a finger is not zero, the controller can determine that the finger needs to participate in the grasping of the target object. At this time, the controller can mark the finger as a working finger.

[0081] After the controller determines the preset finger pressure values ​​of all fingers, it can count all working fingers, then control each working finger to grasp the target object and obtain the current pressure value of each working finger. For example, if the controller confirms all working fingers, it only needs to control these working fingers to grasp the target object; then it controls the pressure tactile sensors of each working finger to obtain the current pressure value of each working finger.

[0082] In a preferred embodiment, each current error is calculated according to the following formula:

[0083]

[0084] in, Indicates the first One finger, , Indicates the first The current error of the root finger. Indicates the first The preset finger pressure value for the root finger. Indicates the first The current pressure value of the root finger.

[0085] In this embodiment, the controller can calculate each current error according to the following formula:

[0086]

[0087] in, Indicates the first One finger, , Indicates the first The current error of the root finger. Indicates the first The preset finger pressure value for the root finger. Indicates the first The current pressure value of the root finger.

[0088] For any finger, the controller only needs to substitute the preset finger pressure value and the current pressure value of the finger into this formula to obtain the current error of the finger.

[0089] In some embodiments, the speed control values ​​are calculated according to the following formula:

[0090]

[0091] in, Indicates the first The speed control value of the root finger. Indicates the first The current error of the root finger. Indicates the first The proportional adjustment term for the current error of the root finger. This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term for the current error of the root finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term for the current error of the root finger. This represents the differential adjustment parameter.

[0092] In this embodiment, the controller can calculate each speed control value according to the following formula:

[0093]

[0094] in, Indicates the first The speed control value of the root finger. Indicates the first The current error of the root finger. Indicates the first The proportional adjustment term for the current error of the root finger. This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term for the current error of the root finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term for the current error of the root finger. This represents the differential adjustment parameter.

[0095] For any finger, the controller can set the proportional, integral, and derivative adjustment parameters according to the actual situation. Then, by substituting the current error of the finger, the proportional, integral, and derivative adjustment parameters into this formula, the speed control value of the finger can be obtained.

[0096] In some embodiments, after calculating the difference between the preset pressure value and each current pressure value to obtain each current error, the method further includes:

[0097] Step S170: Determine whether the absolute value of each current error is less than the preset error;

[0098] Step S171: When the absolute value of the current error is less than the preset error, set the finger speed control value to zero and remove the current error;

[0099] Step S172: If the absolute value of the current error is greater than or equal to the preset error, retain the current error;

[0100] Step S173: Based on all retained current errors, perform the step of inputting each current error into the PID feedback control algorithm to calculate each speed control value.

[0101] In this embodiment, refer to Figure 4 After executing step S120, the controller also needs to determine whether the absolute value of each current error is less than the preset error. The preset error can be set based on the minimum resolution (accuracy) of the pressure sensor. For example, if the measurement accuracy of the pressure sensor is ±0.2 N (Newtons), then the preset error can be set to 0.2, or slightly greater than 0.2. Setting it slightly greater than the minimum resolution of the pressure sensor can filter out noise.

[0102] The controller can determine whether the absolute value of each current error is less than the preset error. For example, the controller first performs an absolute value calculation 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 the preset error.

[0103] 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 to perform the next operation on the current error.

[0104] 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.

[0105] The controller can, based on all retained current errors, execute the step of inputting each current error into the PID feedback control algorithm to calculate each speed control value. That is, the controller can continue executing step S130 based on all retained current errors. This embodiment can avoid unnecessary control caused by minor disturbances or noise while ensuring control accuracy.

[0106] In some embodiments, the aforementioned control of the movement of each finger according to each speed control value includes:

[0107] Step S180: Determine whether the speed control value is greater than zero;

[0108] Step S181: If the speed control value is greater than zero, control the fingers to move inward, where the palm side of the bionic hand is the inner side and the back side of the hand is the outer side.

[0109] Step S182: If the speed control value is zero, then control the finger to stop moving;

[0110] Step S183: If the speed control value is less than zero, control the finger to move outward.

[0111] In this embodiment, refer 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 can have a positive or negative sign. The positive or negative sign can be used to indicate the direction of finger movement. After obtaining the speed control value, the controller can first determine whether the speed control value is greater than zero. In the bionic hand, the palm side is the inner side, and the back side is the outer side.

[0112] If the speed control value is greater than zero, it indicates that the finger is unstable when grasping the target object. In this case, it is necessary to increase the grasping force of the finger, that is, to control the inward movement of the finger. At this time, the controller can control the finger's drive module to drive the finger to move inward based on the speed control value.

[0113] If the speed control value is zero, it indicates that the finger is stable when grasping the target object. In this case, it is not necessary to increase or decrease the grasping force of the finger; that is, it is necessary to stop the finger's movement. At this time, the controller can control the finger's drive module to stop the finger's movement based on the speed control value.

[0114] If the speed control value is less than zero, it indicates that the finger is applying too much force when grasping the target object. In this case, it is necessary to reduce the grasping force of the finger, that is, to control the outward movement of the finger. At this time, the controller can control the finger's drive module to drive the finger to move outward based on the speed control value.

[0115] This application obtains the current pressure value of each finger of a bionic hand when grasping a target object. The bionic hand includes multiple fingers. It calculates the difference between a preset pressure value and each current pressure value to obtain a current error. Each current error is input into a PID feedback control algorithm to calculate a speed control value. The movement of each finger is controlled according to the speed control value, and the process of obtaining the current pressure value of each finger when grasping the target object is repeated. By continuously obtaining the current pressure value of each finger and determining the speed control value of each finger based on the current pressure value, the movement of each finger is controlled according to the speed control value. This allows the bionic hand to respond to the target object in real time, avoiding insufficient, excessive, or uneven grasping force, and reducing the grasping failure rate and the damage rate of the target object.

[0116] Reference Figure 6 This application also proposes a bionic hand control device 20, which includes:

[0117] The acquisition unit 201 is used to acquire the current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers;

[0118] The calculation unit 202 is used to calculate the difference between the preset pressure value and each of the current pressure values ​​to obtain each current error;

[0119] The calculation unit 202 is also used to calculate each speed control value by inputting each current error into the PID feedback control algorithm;

[0120] The control unit 203 is used to control the movement of each of the fingers according to the speed control values, and to re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object.

[0121] In some embodiments, the preset pressure value includes a preset finger pressure value for each of the fingers; the bionic hand control device 20 further includes:

[0122] The acquisition unit 201 is also used to acquire item information of the target item to be captured;

[0123] A configuration unit is used to configure the preset finger pressure value for each of the fingers according to the item information.

[0124] In some embodiments, the acquisition unit 201 is specifically used for:

[0125] Determine whether the preset finger pressure value of each finger is zero;

[0126] If the preset finger pressure value of the finger is zero, then the finger is marked as an idle finger;

[0127] If the preset finger pressure value of the finger is not zero, then the finger is marked as a working finger;

[0128] Control each of the working fingers to grasp the target item, and obtain the current pressure value of each of the working fingers.

[0129] In some embodiments, the calculation unit 202 is further configured to calculate each of the speed control values ​​according to the following formula:

[0130]

[0131] in, Indicates the first Based on the speed control value of the finger, Indicates the first Based on the current error of the aforementioned finger, Indicates the first The proportional adjustment term based on the current error of the finger, This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term based on the current error of the finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term of the current error of the finger, This represents the differential adjustment parameter.

[0132] In some embodiments, the bionic hand control device 20 further includes:

[0133] The judgment unit is used to determine whether the absolute value of each current error is less than a preset error;

[0134] The removal unit is used 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;

[0135] A retention unit is used to retain the current error when the absolute value of the current error is greater than or equal to the preset error;

[0136] The calculation unit 202 is further configured to perform a step of calculating each speed control value by inputting each of the current errors into a PID feedback control algorithm based on all the retained current errors.

[0137] In some embodiments, the control unit 203 is specifically used for:

[0138] Determine whether the speed control value is greater than zero;

[0139] 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;

[0140] If the speed control value is equal to zero, then the finger is controlled to stop moving;

[0141] If the speed control value is less than zero, then the finger is controlled to move outward.

[0142] Reference Figure 7 This 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, which is used to collect the current pressure value of the finger 302 in real time. The controller 301 is capable of executing the bionic hand control method described in any of the above-mentioned applications.

[0143] In this embodiment, refer 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, which 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 the operation of each finger 302. The controller 301 may include, for example, Figure 6 The bionic hand control device 20 shown.

[0144] Each finger 302 also includes a drive module. The controller 301 controls the operation of each finger 302 by controlling the drive module 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.

[0145] This application also proposes a robot, which includes a robot body and a bionic hand as described above.

[0146] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A bionic hand control method, characterized in that, The bionic hand control method includes: The current pressure value of each finger of the bionic hand is obtained when the bionic hand grasps a target object, wherein the bionic hand includes multiple fingers; Each current error is obtained by calculating the difference between the preset pressure value and each current pressure value; Each current error is input into the PID feedback control algorithm to calculate the speed control value. The movement of each finger is controlled according to the speed control value, and the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object is repeated. The preset pressure value includes the preset finger pressure value for each of the fingers; before obtaining the current pressure value of each finger when the bionic hand grasps the target object, the method further includes: Obtain the item information of the target item to be captured; Configure the preset finger pressure value for each finger according to the item information; The item information includes the item shape and item weight. The step of configuring the preset finger pressure value of each finger according to the item information includes: selecting a number of fingers according to the item shape and configuring the preset finger pressure value of the number of fingers according to the item weight. The acquisition of the current pressure values ​​of each finger of the bionic hand when grasping a target object includes: Determine whether the preset finger pressure value of each finger is zero; If the preset finger pressure value of the finger is zero, then the finger is marked as an idle finger; If the preset finger pressure value of the finger is not zero, then the finger is marked as a working finger; Control each of the working fingers to grasp the target item, and obtain the current pressure value of each of the working fingers; Here, the "idle finger" refers to a finger that does not need to participate in grasping the target item, while the "working finger" refers to a finger that needs to participate in grasping the target item.

2. The bionic hand control method according to claim 1, characterized in that, The speed control values ​​are calculated using the following formula: in, Indicates the first Based on the speed control value of the finger, Indicates the first Based on the current error of the aforementioned finger, Indicates the first The proportional adjustment term based on the current error of the finger, This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term based on the current error of the finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term of the current error of the finger, This represents the differential adjustment parameter.

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

4. The bionic hand control method according to claim 1, characterized in that, The control of the movement of each finger according to each speed control value includes: Determine whether the speed control value is greater than zero; 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; If the speed control value is equal to zero, then the finger is controlled to stop moving; If the speed control value is less than zero, then the finger is controlled to move outward.

5. A bionic hand control device, characterized in that, The bionic hand control device includes: The acquisition unit is used to acquire the current pressure value of each finger of the bionic hand when grasping a target object, wherein the bionic hand includes multiple fingers; The calculation unit is used to calculate the difference between the preset pressure value and each of the current pressure values ​​to obtain each current error; The calculation unit is also used to calculate each speed control value by inputting each current error into the PID feedback control algorithm; The control unit is used to control the movement of each of the fingers according to the speed control values, and to re-execute the step of obtaining the current pressure value of each finger when the bionic hand grasps the target object; The preset pressure value includes the preset finger pressure value for each of the fingers; the acquisition unit is further specifically used for: Obtain the item information of the target item to be captured; Configure the preset finger pressure value for each finger according to the item information; The item information includes the item shape and the item weight. When the acquisition unit executes the preset finger pressure value of each finger according to the item information, it is also specifically used to: select several fingers according to the item shape and configure the preset finger pressure value of several fingers according to the item weight. The acquisition unit is specifically used for: Determine whether the preset finger pressure value of each finger is zero; If the preset finger pressure value of the finger is zero, then the finger is marked as an idle finger; If the preset finger pressure value of the finger is not zero, then the finger is marked as a working finger; Control each of the working fingers to grasp the target item, and obtain the current pressure value of each of the working fingers; Here, the "idle finger" refers to a finger that does not need to participate in grasping the target item, while the "working finger" refers to a finger that needs to participate in grasping the target item.

6. The bionic hand control device according to claim 5, characterized in that, The calculation unit is also specifically used to calculate each of the speed control values ​​according to the following formula: in, Indicates the first Based on the speed control value of the finger, Indicates the first Based on the current error of the aforementioned finger, Indicates the first The proportional adjustment term based on the current error of the finger, This indicates the proportional adjustment parameter. Indicates the first The integral adjustment term based on the current error of the finger. Indicates the integral adjustment parameter. Indicates the first The differential adjustment term of the current error of the finger, This represents the differential adjustment parameter.

7. A bionic hand, characterized in that, The bionic hand includes a controller and multiple fingers, each finger being equipped with a pressure tactile sensor. The pressure tactile sensor is used to collect the current pressure value of the finger in real time. The controller is capable of executing the bionic hand control method according to any one of claims 1-4.

8. A robot, characterized in that, The robot includes a robot body and a bionic hand as described in claim 7.

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